Rodless traction AGV

Abstract

The invention relates to a rodless traction AGV, and relates to the technical field of traction equipment, and the rodless traction AGV comprises an AGV body; one end of the lifting frame is hinged to the AGV body, and the lifting frame turns over in the vertical direction; the lifting component is fixedly arranged on the lifting frame, the lifting component is arranged below the plane where the wheel center of the to-be-dragged equipment wheel is located, and when the lifting component moves to the position below the plane where the wheel center is located, the front side of the to-be-dragged equipment wheel is supported; the wheel holding assembly is arranged on the lifting frame, supports the rear side of the to-be-dragged equipment wheel are formed below the plane where the wheel center of the to-be-dragged equipment wheel is located, and the wheel holding assembly and the lifting component form bilateral supports for the to-be-dragged equipment wheel; and the linear moving assembly drives the lifting frame to rotate around the hinge point so as to lift the equipment wheel to be dragged. The device has the advantages that the whole lifting process is more stable and more controllable, the to-be-dragged equipment is not prone to accidental shaking, and the positioning precision is higher.

Description

Technical Field

[0001] The present application relates to the technical field of traction equipment, and in particular to a rodless traction AGV. Background Art

[0002] An automated guided vehicle (AGV) is an industrial vehicle that automatically or manually loads cargo, then drives along a set route or tows a loaded trolley to a designated location, where it can then be loaded and unloaded again, either automatically or manually. AGVs are also commonly used to tow vehicles after transport accidents, warehouse accidents, and aircraft waiting for towing equipment.

[0003] In the prior art, patent application publication number CN116552798A discloses a towbarless aircraft tractor. In this patent application, a lifting hydraulic cylinder within the tractor body lifts the entire platform upward, thereby lifting the aircraft wheels, allowing the tractor to tow the aircraft for movement. In the prior art, during the process of lifting the aircraft wheels waiting for the towing equipment wheels, a lifting mechanism consisting of a lifting hydraulic cylinder and a vertically mounted slide rail on the tractor body is typically used to guide the lifting of the platform. Because the lifting hydraulic cylinder is offset from the wheels of the towed equipment and the towed equipment itself is heavy, the lifting of the towed equipment wheels generates a large torque on the lifting mechanism, causing significant wear on the lifting mechanism, resulting in shaking or tilting of the towed equipment during the lifting process, affecting positioning accuracy and stability. Summary of the Invention

[0004] In order to improve the problem that when the wheels of the towed equipment are lifted, a large torque is generated on the lifting mechanism, which causes greater wear on the lifting mechanism, resulting in shaking or tilting of the towed equipment during the lifting process, affecting the positioning accuracy and stability, the present application provides a rodless traction AGV.

[0005] The present application provides a rodless traction AGV that adopts the following technical solutions: A rodless traction AGV, comprising: AGV body, which serves as the supporting body of the AGV and is capable of towing the equipment to be towed; A lifting frame, one end of which is hinged to the AGV body so as to be able to flip along a vertical direction; a lifting member, the lifting member being fixedly mounted on the lifting frame and movably disposed below a plane where a wheel center of the wheel of the to-be-towed equipment is located, so as to support the front side of the wheel of the to-be-towed equipment when the lifting member moves below the plane where the wheel center is located, so that the lifting member can lift the wheel of the to-be-towed equipment; A wheel holding assembly is operably arranged on the lifting frame and is capable of forming a support for the rear side of the wheel of the equipment to be towed below the plane where the wheel center of the wheel of the equipment to be towed is located, so as to form a double-sided support for the wheel of the equipment to be towed together with the lifting member; A linear moving component, one end of which is hinged to the lifting frame and the other end is hinged to the AGV body. The linear moving component is used to drive the lifting frame to rotate around the hinge point so as to lift the wheels of the equipment to be towed.

[0006] By adopting the above technical solution, in the process of lifting the wheel of the equipment to be towed, the wheel of the equipment to be towed moves onto the lifting component, so that the lifting component forms a support for the front side of the wheel of the equipment to be towed, and the wheel holding assembly supports the rear side of the wheel of the equipment to be towed. The linear moving assembly drives the lifting frame to rotate around the hinge point, and the support for the wheel of the equipment to be towed is formed by the lifting component and the wheel holding assembly to lift the wheel of the equipment to be towed. The AGV tows the wheel of the equipment to be towed to move, and the linear moving assembly drives the lifting frame to rotate around the hinge point with the AGV body by being hinged with the lifting frame to realize the lifting of the wheel of the equipment to be towed, so that the linear moving assembly only bears axial force, and the movement direction is constrained by the hinge point. The rotation trajectory of the lifting frame is relatively fixed, and the wheel of the equipment to be towed moves in a circular arc with the lifting frame. The entire lifting process is smoother and more controllable, the equipment to be towed is not prone to accidental shaking, and the positioning accuracy is higher.

[0007] Preferably, the wheel-holding assembly includes a supporting member, a rotary drive member, and a linear telescopic member. The rotary drive member is connected to the supporting member to drive the supporting member to rotate, so that the supporting member can be opposite to the rear side of the wheel of the equipment to be towed and deviate from the moving trajectory of the wheel of the equipment to be towed. The linear telescopic member is arranged on the lifting frame and connected to the rotary drive member to drive the supporting member to move below the plane where the wheel center of the wheel of the equipment to be towed is located, thereby forming support for the wheel of the equipment to be towed.

[0008] By adopting the above technical solution, the supporting member is driven to rotate by the rotary drive member so that the position can be flexibly adjusted. It can not only support the rear side of the wheel of the equipment to be towed, but also deviate from the moving trajectory of the wheel of the equipment to be towed to avoid interference. The linear telescopic member is then used to drive the supporting member to move below the plane where the wheel center of the equipment to be towed is located, forming a stable support, thereby improving the flexibility and reliability of the wheel holding assembly in supporting the wheel of the equipment to be towed, helping to lift the wheel of the equipment to be towed more efficiently, and thereby ensuring the smooth traction of the AGV on the wheel of the equipment to be towed.

[0009] Preferably, a support surface capable of contacting the wheel of the equipment to be towed is formed on the support member, and the support member supports the rear side of the wheel of the equipment to be towed through the support surface.

[0010] By adopting this technical solution, the support member contacts the wheel of the equipment to be towed via the support surface, providing effective support for the rear side of the wheel. This makes the wheel support provided by the wheel-holding assembly more stable and reliable, improving the stability of the barless towing AGV during the lifting and towing process. When the wheel of the equipment to be towed is lifted, the support surface provides a larger contact area for the deformation of the wheel, reducing the concentrated stress on the wheel during lifting and improving the stability of the wheel during towing.

[0011] Preferably, the support member is provided with a post-positioned detection component; the post-positioned detection component includes a first detection plate and a first proximity switch, the first detection plate is rotatably arranged on the support member, the support member can drive the first detection plate to squeeze the wheel of the to-be-towed equipment so that the first detection plate rotates, the first proximity switch is fixedly arranged on the support member, a shielding component is provided on the first detection plate, the first detection plate can drive the shielding component to shield the sensing head of the first proximity switch, and a reset component connected to the first detection plate is provided on the support member, and the reset component can drive the first detection plate to reset.

[0012] By adopting the above technical solution, when the wheel of the equipment to be towed is clamped, the rear-positioned detection component can provide real-time feedback on whether the supporting structure has accurately reached the supporting position on the rear side of the wheel of the equipment to be towed, thereby ensuring the accuracy and stability of the wheel-holding component and improving the safety of the AGV when towing the wheel of the equipment to be towed.

[0013] Preferably, there are two groups of wheel-holding assemblies, and a space for inserting the wheel of the equipment to be towed is formed between the two groups of wheel-holding assemblies. The two support members rotate relative to each other to form a support structure for the wheel of the equipment to be towed; the two support members can be connected by a support limiting member, and the support limiting member can fix the two support limiting members circumferentially.

[0014] By adopting the above technical solution, the two sets of wheel-holding assemblies form a space for the wheel of the equipment to be towed to be inserted, facilitating the placement of the wheel of the equipment to be towed. The two support members rotate relative to each other and are circumferentially fixed by the support limiter to form a support structure. This structure can more stably support the rear side of the wheel of the equipment to be towed, improving the stability of the lifting and towing process of the wheel of the equipment to be towed. The connection and fixation of the two support members by the support limiter can reduce the restraining force applied by the rotating drive member to the support members, thus preventing damage to the rotating drive member and the wheel of the equipment to be towed from being dropped due to excessive load, and improving the safety of the wheel of the equipment to be towed during towing.

[0015] Preferably, the support limiting member includes a fixing component and two slots, the two slots are respectively provided on the two supporting components, and the fixing component can be inserted into the two slots when the two supporting components are opposite to the wheels of the equipment to be towed, so as to support and fix the two supporting components in pairs.

[0016] By adopting the above technical solution, when the two supporting members are opposite to the wheels of the equipment to be towed, the fixing members are inserted into the two slots to support and fix the two supporting members, so that the support of the wheel holding assembly to the rear side of the wheel of the equipment to be towed is more stable, thereby improving the stability of the lifting process of the wheel of the equipment to be towed and ensuring the reliability of the AGV when towing the wheel of the equipment to be towed.

[0017] Preferably, a guide rod is fixed on one of the supporting members, and the guide rod is slidably arranged on the fixing member to guide the fixing member to slide in and out of the two slots, and the supporting member where the guide rod is located is connected to the fixing member by an elastic member, and the elastic member can pull the fixing member out of the two slots to release the fixation of the two supporting members, and a driving block is provided on the supporting member, one end of the driving block extends to the free end of the first detection plate, and the other end is provided with a guide surface that can be fitted with the fixing member, and the drive can push the fixing member to be inserted into the two slots through the guide surface, and the first detection plate pushes the driving block to slide when it is squeezed by the wheel of the towed equipment and rotates.

[0018] By adopting the above technical solution, the guide rod can guide the fixing component to slide in and out of the slot, ensuring the accurate movement of the fixing component; the elastic component can pull the fixing component out of the slot, which is convenient for releasing the fixation of the two supporting components; when the first detection plate is squeezed and rotated by the wheel of the to-be-pulled equipment, it pushes the driving block to slide, and the driving block pushes the fixing component into the slot through the guide surface, thereby realizing automatic fixation of the two supporting components, improving the convenience of fixing the supporting components, making the wheel holding assembly support the wheel of the to-be-pulled equipment more stable and reliable, and improving the support efficiency and stability of the wheel of the to-be-pulled equipment.

[0019] Preferably, it also includes a connecting component; the connecting component includes a connecting member, a connecting seat and a linear drive mechanism, the connecting seat is fixedly connected to the AGV body, the connecting seat is provided with a slot for inserting the connecting rod on the connected device, the linear drive mechanism is fixedly connected to the AGV body, and is rotatably connected to the connecting member to drive the connecting member to rotate, the connecting member is provided with a fixing slot, and the connecting member can drive the fixing slot to cover the connecting rod located in the slot to fix the AGV to the connected device.

[0020] By adopting the above technical solution, the connecting seat in the connecting assembly is fixed to the AGV body, and the slot on it can be used for the connecting rod of the connected device to be inserted. The linear drive mechanism drives the connecting component to rotate so that the fixing groove of the connecting component covers the connecting rod in the slot, thereby realizing a fixed connection between the AGV and the connected device.

[0021] Preferably, it also includes two groups of steering drive assemblies, and the number of the steering drive assemblies in each group is at least two, and the two groups of steering drive assemblies are arranged on both sides of the bottom surface of the AGV body to form support for the AGV body; the steering drive assembly includes a mounting plate, a bogie and a differential steering wheel assembly, the mounting plate is fixedly connected to the AGV body, the bogie is rotatably connected to the mounting plate, the differential steering wheel assembly is fixedly provided on the bogie and can steer the AGV, and a lifting member connected to the bogie is provided on the mounting plate, and the lifting member can lift the differential steering wheel assembly.

[0022] By adopting this technical solution, two sets of steering drive assemblies are installed on both sides of the bottom surface of the AGV body to form a support and ensure the stability of the AGV body. The differential steering wheel assembly can steer the AGV, achieving flexible steering of the AGV. The lifting member can lift the differential steering wheel assembly, facilitating the adjustment of the differential steering wheel assembly's position and height to adapt to different working conditions. If one of the differential steering wheels is damaged, the lifting member can be used to lift the differential steering wheel assembly, reducing the impact of the damaged differential steering wheel assembly on the AGV movement and facilitating the repair of the damaged differential steering wheel assembly.

[0023] Preferably, a fixed gear is fixedly connected to the mounting plate, the axis of the fixed gear is coaxially arranged with the rotating axis of the bogie, an encoder is fixedly provided on the bogie, and the encoder is provided with a driven gear meshing with the fixed gear.

[0024] By adopting the above technical solution, the rotation information of the bogie can be transmitted to the encoder by utilizing the engagement of the fixed gear and the driven gear, so that the encoder can accurately obtain the rotation angle of the bogie, thereby accurately grasping the steering situation of the AGV and facilitating precise control of the AGV steering.

[0025] In summary, this application includes at least one of the following beneficial technical effects: 1. The linear motion component is hinged to the lifting frame to drive the lifting frame to rotate around the hinge point with the AGV body to lift the wheels of the equipment to be towed. This allows the linear motion component to bear only axial force, and the direction of movement is constrained by the hinge point. The rotation trajectory of the lifting frame is relatively fixed, and the wheels of the equipment to be towed follow the lifting frame in a circular motion. This makes the entire lifting process smoother and more controllable, and the equipment to be towed is less likely to shake unexpectedly, and the positioning accuracy is higher. 2. When the AGV needs to be moved together with the connected equipment such as a ladder, the connecting rod of the connecting device is inserted into the slot, and the linear drive mechanism drives the connecting member to rotate so that the fixing groove of the connecting member covers the connecting rod in the slot, thereby improving the convenience of fixed connection between the AGV and the connected equipment; 3. Connecting and fixing the two supporting members through the supporting fixing member can reduce the limiting force exerted by the rotating drive member on the supporting member, avoid the phenomenon of damage to the rotating drive member and falling of the wheel of the towed equipment due to excessive load, and improve the safety of the towed equipment during the towing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a structural diagram of a rodless traction AGV according to Example 1 of the present application.

[0027] Figure 2 It is a schematic diagram showing the bottom structure of the AGV body.

[0028] Figure 3 yes Figure 1 Enlarged view of part A in the middle.

[0029] Figure 4 It is a structural diagram showing the connected components.

[0030] Figure 5 yes Figure 2 Enlarged view of part B in the middle.

[0031] Figure 6 It is a schematic diagram used to show the structure of the steering drive component.

[0032] Figure 7 It is a top view of the steering drive assembly.

[0033] Figure 8 It is along Figure 7 Cross-sectional view along the CC line.

[0034] Figure 9 It is a schematic diagram showing the structure of the wheel holding assembly.

[0035] Figure 10 It is a schematic diagram showing the structure of the rotating drive component.

[0036] Figure 11 yes Figure 9 Enlarged view of part D in the middle.

[0037] Figure 12 It is a structural diagram of the support and restriction member in Example 2 of the present application.

[0038] Figure 13 It is a schematic diagram showing the structure of the two support plates aligned.

[0039] Figure 14 It is a top view showing the mounting plate and the rotating connecting frame.

[0040] Figure 15 It is along Figure 14 Cross-sectional view along line EE.

[0041] Explanation of reference numerals: 1. AGV body; 11. Lifting port; 12. Visual recognition module; 13. Base frame; 2. Lifting frame; 21. Telescopic beam; 211. First beam; 212. Second beam; 3. Lifting member; 31. Lifting plate; 4. Wheel assembly; 41. Support member; 411. Support plate; 412. Rotating connecting frame; 413. Support surface; 42. Rotating drive member; 421. First linear hydraulic cylinder; 422. First connecting member Plate; 423, second connecting plate; 424, third connecting plate; 425, first rotating shaft; 426, second rotating shaft; 43, linear telescopic member; 431, second linear hydraulic cylinder; 44, rotating bracket; 45, support and limiting member; 451, fixing member; 452, slot; 453, guide rod; 454, support; 455, elastic member; 4551, telescopic spring; 456, driving block; 457, guide surface; 458, connecting surface ; 5. Linear motion assembly; 6. Connecting assembly; 61. Connecting member; 62. Connecting seat; 63. Linear drive mechanism; 64. Slot; 65. Fixing slot; 66. Reflective photoelectric sensor; 7. Steering drive assembly; 71. Mounting plate; 72. Bogie; 721. First frame; 722. Second frame; 723. Guide rod; 73. Differential steering wheel; 731. Wheel; 732. Drive motor; 74. Fixed gear; 75. Encoder; 76. Driven gear; 77. Lifting member; 771. Lifting motor; 772. Speed ​​reducer; 773. Screw rod; 774. Nut; 8. Connected device; 81. Connecting rod; 91. Post-position detection assembly; 911. First detection plate; 912. First proximity switch; 913. Accommodating groove; 914. Detection base; 915. Shielding member; 916. Resetting member; 9161. Torsion spring; 92. Pre-position detection assembly. DETAILED DESCRIPTION

[0042] The following is combined with Figure 1-15 This application is described in further detail.

[0043] The embodiments of the present application disclose a rodless traction AGV.

[0044] Example 1 Reference Figure 1 、 Figure 2 A rodless traction AGV includes an AGV body 1, a lifting frame 2, a lifting component 3, a wheel holding assembly 4, a linear moving assembly 5, a connecting assembly 6 and two sets of steering drive assemblies 7.

[0045] In this embodiment, the use of AGV in the aviation field is taken as an example, and an AGV tractor is used to lift and tow the aircraft wheels. Correspondingly, the equipment to be towed in this embodiment is an aircraft, and the wheels of the equipment to be towed are aircraft wheels.

[0046] The AGV body 1 has a built-in navigation and positioning system, control system, power supply system, communication system, and human-machine interface. The navigation and positioning system is used to determine the AGV's real-time position and orientation in the environment and guide it along a predetermined path. The control system is used to receive instructions, process sensor data, make decisions, and control the drive and steering units to perform precise movements. The power supply system provides stable and reliable energy for all electrical components of the AGV. The communication system is used to enable information exchange between the AGV and the upper-level scheduling system, other equipment, and possibly other AGVs. The human-machine interface provides a window for the operator to interact with the AGV, used for status display, parameter setting, manual control, and fault diagnosis.

[0047] An inspection platform is formed behind the AGV body 1, and a lifting port 11 for the wheels of the equipment to be towed is opened on the inspection platform. Two visual recognition modules 12 are provided at the tail of the AGV body 1. The two visual recognition modules 12 are arranged on both sides of the lifting port 11. The visual recognition modules 12 can detect the position deviation of the aircraft wheels relative to the AGV body 1 and adjust the position of the AGV body 1 itself.

[0048] Reference Figure 1 、 Figure 3 In this embodiment, there are four groups of connecting components 6, which are evenly arranged on the two side walls of the AGV body 1. The connecting components 6 include a connecting member 61, a connecting seat 62, and a linear drive mechanism 63. Grooves corresponding to the connecting components 6 are provided on the side walls of the AGV body 1. The connecting seat 62 is fixedly connected to the AGV body 1, and the tail end of the connecting seat 62 is located in the groove, reducing the impact of the extended length of the connecting seat 62 on the travel of the AGV. A slot 64 is provided at the front end of the connecting seat 62, and the opening of the slot 64 faces the side of the AGV body 1. A connecting rod 81 is fixedly provided on the connected device 8. The connected device 8 in this embodiment includes but is not limited to one or a combination of an online work platform and a suspended ladder. The connecting rod 81 is provided on the side of the connected device 8. When the connected device 8 is connected to the AGV body 1, the connecting rod 81 is inserted into the slot 64 along the side of the AGV body 1. V-shaped grooves are provided on both sides of the AGV body 1 , and the laser scanning sensor provided on the connected device 8 scans the V-shaped grooves to achieve alignment between the connecting rod 81 and the slot 64 .

[0049] Reference Figure 3 、 Figure 4One end of the connecting member 61 is hinged to the connecting seat 62 via a hinge axis, allowing the free end of the connecting member 61 to rotate toward the slot 64. A fixing slot 65 is defined at the free end of the connecting member 61, with the opening of the fixing slot 65 facing the slot 64. In this embodiment, the linear drive mechanism 63 is a linear hydraulic cylinder. The cylinder body of the linear drive mechanism 63 is hinged to one end of the groove of the connecting seat 62. The piston rod is hinged to the connecting member 61, so that when the linear drive mechanism 63 extends, it drives the connecting member 61 to rotate toward the slot 64, and when the linear drive mechanism 63 contracts, it drives the connecting member 61 to rotate away from the slot 64. Two reflective photoelectric sensors 66 are provided on the connecting seat 62, and a detectable mark (such as a reflective sheet or a magnet) is provided on the connecting member 61. When one of the reflective photoelectric sensors 66 is aligned with the mark, it detects that the connecting rod 81 is locked. When the other reflective photoelectric sensor 66 is aligned with the mark, it detects that the connecting rod 81 is released.

[0050] When the AGV body 1 and the connected device 8 are fixedly installed, the connecting rod 81 on the connected device 8 is inserted into the slot 64 from the side, and the linear drive mechanism 63 extends to push the fixing slot 65 on the connecting member 61 to rotate toward the connecting rod 81, and puts the connecting rod 81 on, so that the connecting rod 81 is fixed by the cross-set slot 64 and the fixing slot 65, completing the fixed installation of the connected device 8 and the AGV body 1. When the AGV body 1 and the connected device 8 are to be disassembled, the linear drive mechanism 63 contracts and pulls the free end of the connecting member 61 away from the connecting rod 81, so that the fixing slot 65 and the connecting rod 81 are disengaged, releasing the fixation of the connecting rod 81, and allowing the connected device 8 to move laterally to pull the connecting rod 81 out of the slot 64, thereby completing the disassembly of the AGV body 1 and the connected device 8. Through the above-mentioned disassembly and assembly process, the convenience of disassembly and assembly of the AGV body 1 and the connected device 8 is improved.

[0051] Reference Figure 2 、 Figure 5 Two rows of steering drive assemblies 7 are symmetrically arranged at the bottom of the AGV body 1. In this embodiment, there are three groups of steering drive assemblies 7. Two rows of steering drive assemblies 7 are symmetrically arranged at the bottom of the AGV body 1. The AGV body 1 is provided with sinks corresponding to the steering drive assemblies 7 one by one. Each group of steering drive assemblies 7 is arranged in the corresponding sink, which can reduce the distance between the bottom surfaces of the AGV body 1.

[0052] Reference Figure 5 、 Figure 6Each steering drive assembly 7 includes a mounting plate 71, a bogie 72 and a differential steering wheel 73. A through hole is provided on the top of each sink. The mounting plate 71 is fixedly mounted on the top of the sink. A fixed gear 74 is fixedly provided on the bottom wall of the mounting plate 71 along the horizontal direction. The bogie 72 is arranged below the fixed gear 74 and is rotatably connected to the fixed gear 74 by a portion inserted into the fixed gear 74, so that the rotation axis of the bogie 72 is collinear with the rotation axis of the fixed gear 74.

[0053] Reference Figure 7 、 Figure 8 The bogie 72 includes a first frame body 721, a second frame body 722 and a guide rod 723. The first frame body 721 is connected to the fixed gear 74. The second frame body 722 is arranged below the first frame body 721. There are four guide rods 723, and the four guide rods 723 are arranged in a square array. One end of each guide rod 723 is fixedly connected to the first frame body 721, and the other end is slidably passed through the second frame body 722, so that the second frame body 722 and the first frame body 721 are slidably arranged along the vertical direction. The differential steering wheel assembly 73 includes two sets of wheels 731 and a drive motor 732. The wheels 731 correspond to the drive motors 732 one by one. The two drive motors 732 are fixedly arranged on the second frame 722 in opposite directions. Each wheel 731 is rotatably connected to the second frame 722 and is connected to the output shaft of the drive motor 732, so that the drive motor 732 drives the corresponding wheel 731 to rotate. On the one hand, the drive motor 732 drives the wheel 731 to rotate to realize the driving of the AGV. On the other hand, the differential adjustment of the two drive motors 732 realizes the turning of the AGV and the flexible steering of the AGV.

[0054] Reference Figure 7 、 Figure 8 An encoder 75 is fixed on the first frame 721, and a driven gear 76 is coaxially fixed on the rotating shaft of the encoder 75. The driven gear 76 is engaged with the fixed gear 74. The engagement of the fixed gear 74 and the driven gear 76 can transmit the rotation information of the bogie 72 to the encoder 75, so that the encoder 75 can accurately obtain the rotation angle of the bogie 72, thereby accurately grasping the steering situation of the AGV, which is convenient for precise control of the AGV steering.

[0055] Reference Figure 7 、 Figure 8, a lifting member 77 is provided on the mounting plate 71. The lifting member 77 in this embodiment includes a lifting motor 771, a reduction device 772, a screw 773 and a nut 774. The lifting motor 771 and the reduction device 772 are both fixedly arranged on the top surface of the mounting plate 71. The output shaft of the lifting motor 771 is connected to the input shaft of the reduction device 772. The reduction device 772 can not only achieve deceleration but also achieve transmission reversal. The screw 773 is coaxially passed through the fixed gear 74, and the screw 773 is rotatably connected to the first frame 721 through two symmetrically arranged tapered roller bearings. One end of the screw 773 is connected to the output shaft of the reduction device 772, so that the lifting motor 771 drives the screw 773 to rotate through the reduction device 772. The nut 774 is fixedly set on the second frame 722, and the screw rod 773 is passed through the nut 774 and is threadedly connected to the nut 774. The rotation of the screw rod 773 drives the nut 774 to move up and down, thereby driving the second frame 722 to rise and fall.

[0056] When the drive motor 732 and the wheel 731 are damaged, the lifting motor 771 drives the screw 773 to rotate, and the screw 773 drives the second frame 722 to lift through the nut 774, so that the damaged motor and wheel 731 are lifted off the ground, reducing the impact of the damaged drive motor 732 and wheel 731 on the movement of the AGV, and facilitating the repair of the damaged drive motor 732 and wheel 731. When the AGV is turning, the second frame 722 drives the nut 774 to rotate. At this time, the lifting motor 771 drives the screw 773 and the nut 774 to rotate synchronously, avoiding the impact of the lifting of the wheel 731 on the balance of the AGV body 1 when the AGV is turning, thereby improving the stability of the AGV during movement.

[0057] Reference Figure 2 、 Figure 9 The lifting frame 2, lifting member 3, wheel holding assembly 4 and linear moving assembly 5 are all arranged in the lifting opening 11 at the rear of the AGV body 1. The AGV body 1 is fixed with a base frame 13 on the opposite side walls of the lifting opening 11. One end of the lifting frame 2 is hinged to the base frame 13 through two hinge shafts, so that the lifting frame 2 rotates vertically with the hinge point as the center of the circle. The lifting frame 2 includes two groups of telescopic beams 21, each group of telescopic beams 21 includes a first beam body 211 and a second beam body 212. The two first beam bodies 211 are fixedly connected by the lifting member 3. The first beam body 211 is a hollow square beam, and the second beam body 212 is slidably inserted into the first beam body 211 to realize the extension and retraction of the telescopic beam 21.

[0058] Reference Figure 9The bottom of the lifting member 3 forms a lifting plate 31, and the lifting plate 31 is tilted from top to bottom toward the tail end of the AGV body 1, so that the contact point between the wheel of the to-be-towed equipment and the lifting plate 31 is located below the plane where the wheel center of the to-be-towed equipment is located, forming support for the front side of the wheel of the to-be-towed equipment.

[0059] Reference Figure 9 The wheel-holding assemblies 4 correspond one-to-one with the telescopic beams 21, and the two sets of wheel-holding assemblies 4 are symmetrically arranged along the plane of symmetry of the lifting opening 11. In this embodiment, the wheel-holding assemblies 4 include a support member 41, a rotary drive member 42, and a linear telescopic member 43. The linear telescopic member 43 is a linear hydraulic cylinder. The cylinder body of the linear telescopic member 43 is fixedly mounted on the first beam 211, and the piston rod is fixedly mounted on the second beam 212. The telescopic beam 21 is driven to extend and retract by the linear telescopic member 43.

[0060] Reference Figure 9 、 Figure 10 , a rotating bracket 44 is fixedly provided at the end of each second beam body 212. The rotating drive member 42 of this embodiment includes a first linear hydraulic cylinder 421, a first connecting plate 422, a second connecting plate 423 and a third connecting plate 424. The cylinder body of the first linear hydraulic cylinder 421 is hinged to the rotating bracket 44 through a hinge shaft, and the piston rod is hinged to the end of the first connecting plate 422. A first rotating shaft 425 is fixed on the second connecting plate 423. The first rotating shaft 425 is rotatably connected to the rotating bracket 44. The first connecting plate 422 is fixedly connected to the first rotating shaft 425, and the fixed point deviates from the hinge point with the first linear cylinder. The end of the second connecting plate 423 is hinged to the end of the third connecting plate 424. The support member 41 in this embodiment includes a support plate 411 and a rotating connecting frame 412. The rotating connecting frame 412 is rotatably connected to the rotating bracket 44 via a second rotating shaft 426. The end of the third connecting plate 424 is hinged to the end of the rotating connecting frame 412. The first rotating shaft 425, the second rotating shaft 426, and the hinge axes connecting the first connecting plate 422, the second connecting plate 423, and the third connecting plate 424 are arranged in parallel. Through the reasonable arrangement of the first connecting plate 422, the second connecting plate 423, the third connecting plate 424, and the rotating connecting frame 412, the first linear hydraulic cylinder 421 can drive the support plate 411 to rotate 90 degrees within a single stroke.

[0061] Reference Figure 9 、 Figure 10, the support plate 411 is fixedly arranged on the rotating connecting frame 412, and a support surface 413 is formed on the support plate 411. Initially, the first linear hydraulic cylinder 421 is in an extended state, and the two support plates 411 are away from each other to the maximum distance, so that the space between the two telescopic beams 21 is opened, and the AGV body 1 is moved so that the wheel of the to-be-towed equipment is inserted between the two telescopic beams 21, and the wheel of the to-be-towed equipment abuts on the lifting plate 31, and then the first linear hydraulic cylinder 421 is driven to retract, and the first linear hydraulic cylinder 421 drives the first rotating shaft 425 to rotate through the first connecting plate 422, and the first rotating shaft 425 drives the first The second connecting plate 423 rotates, and the second connecting plate 423 pulls the rotating connecting frame 412 to rotate around the second rotating axis 426 through the third connecting plate 424. The rotating connecting frame 412 drives the support plate 411 to rotate inward 90 degrees, so that the support surface 413 is opposite to the wheel of the equipment to be towed. Then, the linear telescopic member 43 drives the second beam body 212 to retract into the first beam body 211, thereby driving the support plate 411 to move toward the wheel of the equipment to be towed, and finally makes the support surface 413 contact with the wheel of the equipment to be towed, and the contact point is located below the plane where the wheel center of the aircraft wheel is located, forming support for the rear side of the aircraft wheel.

[0062] Reference Figure 9 The linear moving component 5 corresponds one-to-one to the telescopic beam 21. The linear moving component 5 in this embodiment includes a second linear hydraulic cylinder 431. The cylinder body of the second linear hydraulic cylinder 431 is hinged to the base frame 13, and the piston rod is hinged to the first beam body 211, and the hinge point is located at one end of the first beam body 211 close to the second beam body 212. When the lifting plate 31 and the support plate 411 both support the aircraft wheels, the second linear hydraulic cylinder 431 extends, and the aircraft wheels rotate around the hinge point of the lifting frame 2 and are lifted off the ground, so that the AGV pulls the aircraft to move. During the lifting of the aircraft wheels, the second linear hydraulic cylinder 431 is hinged with the lifting frame 2 to drive the lifting frame 2 to rotate around the hinge point with the AGV body 1 to achieve the lifting of the aircraft wheels, so that the second linear hydraulic cylinder 431 only bears axial force, and the direction of movement is constrained by the hinge point. The rotation trajectory of the lifting frame 2 is relatively fixed, and the aircraft wheels move in a circular arc with the lifting frame 2. The entire lifting process is smoother and more controllable, the aircraft is less likely to shake accidentally, and the positioning accuracy is higher.

[0063] Reference Figure 9 、 Figure 11Each support plate 411 is provided with a post-position detection assembly 91, which includes a first detection plate 911 and a first proximity switch 912. A receiving slot 913 is defined on the support plate 411, and a detection base 914 is fixedly disposed within each receiving slot 913. The bottom of the first detection plate 911 is hinged to the detection base 914 via a hinge axis, and the top free end of the first detection plate 911 extends out of the receiving slot 913. The first proximity switch 912 is fixedly disposed on the inner side of the detection base 914. A shielding member 915 is fixedly disposed on the back side of the first detection plate 911. A reset member 916 is disposed on the hinge axis connecting the first detection plate 911 to the detection base 914. In this embodiment, the reset member 916 comprises a torsion spring 9161, which is sleeved on the hinge axis. One end of the torsion spring 9161 abuts the detection base 914, and the other end abuts the first detection plate 911.

[0064] When the aircraft wheel is clamped, the first detection plate 911 is squeezed by the aircraft wheel and rotates toward the detection base 914. When the support position of the aircraft wheel and the support plate 411 moves accurately, the blocking component 915 blocks the sensing head of the first proximity switch 912, the first proximity switch 912 generates a signal, and the support plate 411 stops moving. The rear-positioned detection component 91 can provide real-time feedback on whether the support component 41 has accurately reached the support position on the rear side of the aircraft wheel, thereby ensuring the accuracy and stability of the wheel holding component 4 and improving the safety of the AGV when towing the aircraft.

[0065] Reference Figure 9 Two front-end detection components 92 are provided on the lifting member 3. The structure of the front-end detection component 92 is the same as that of the rear-end detection component 91, and both can realize the support position detection between the aircraft wheel and the lifting member 3.

[0066] The implementation principle of Example 1 is as follows: in the process of lifting the aircraft wheel, the lifting plate 31 is brought into contact with the aircraft wheel, so that the lifting plate 31 forms a support for the front side of the aircraft wheel, and the two support plates 411 are in contact with the aircraft wheel to form a support for the rear side of the aircraft wheel. The second linear hydraulic cylinder 431 drives the lifting frame 2 to rotate around the hinge point to achieve the lifting of the aircraft wheel and tow the aircraft to move by the AGV. In the process of lifting the aircraft wheel, the second linear hydraulic cylinder 431 is hinged with the lifting frame 2 to drive the lifting frame 2 to rotate around the hinge point with the AGV body 1 to achieve the lifting of the aircraft wheel, so that the second linear hydraulic cylinder 431 only bears axial force, and the direction of movement is constrained by the hinge point. The rotation trajectory of the lifting frame 2 is relatively fixed, and the aircraft wheel moves in a circular arc with the lifting frame 2. The entire lifting process is smoother and more controllable, the aircraft is not prone to accidental shaking, and the positioning accuracy is higher.

[0067] Example 2 Reference Figure 12 、 Figure 13 The difference between this embodiment and embodiment 1 is that a support and restriction member 45 is passed between the two rotating connecting frames 412. The support and restriction member 45 in this embodiment includes a fixing member 451 and two card slots 452. The two card slots 452 correspond to the rotating connecting frames 412 one by one and are fixedly arranged on the back of the rotating connecting frames 412. The openings of the two card slots 452 are both set upward. When the two rotating connecting frames 412 rotate inward until the support surface 413 is opposite to the aircraft wheels, the end openings of the two card slots 452 are aligned. The fixing member 451 is a rectangular rod, and a guide rod 453 arranged in the vertical direction is fixed on one of the rotating connecting frames 412. The guide rod 453 is fixedly connected to the rotating connecting frame 412 through supports 454 fixed at both ends. The cross-section of the guide rod 453 is rectangular. The guide rod 453 is passed through the fixing member 451 and is slidably connected to the fixing member 451. An elastic component 455 is provided on the guide rod 453. The elastic component 455 in this embodiment is a telescopic spring 4551. One end of the telescopic spring 4551 abuts against the fixed component 451, and the other end abuts against the support 454 below. The telescopic spring 4551 abuts the fixed component 451 against the support 454 above. When the fixed component 451 abuts against the support 454, the fixed component 451 is located above the slot 452.

[0068] Reference Figure 14 、 Figure 15 A driving block 456 is slidably provided on the support plate 411, and the driving block 456 is slidably connected to the slider fixed on the support plate 411 through a sliding groove opened on itself, so that the driving block 456 slides stably in the horizontal direction. One end of the driving block 456 extends to the free end of the first detection plate 911, and the other end is opposite to the fixed component 451 that abuts against the upper support 454. A guide surface 457 is provided at the end of the driving block 456 opposite to the fixed component 451, and the guide surface 457 is inclined along the top-down direction toward the direction close to the other end of the driving block 456, and a connecting surface 458 that fits with the guide surface 457 is provided on the fixed component 451.

[0069] The implementation principle of Example 2 is as follows: when the two aligned support plates 411 are in contact with the aircraft wheels, the first detection plate 911 is squeezed by the aircraft wheels and rotates, pushing the driving block 456 to slide toward the rear. The driving block 456 pushes the fixing member 451 to slide down and insert into the card slot 452 through the guide surface. At this time, the telescopic spring 4551 contracts to fix the two rotating connecting frames 412, reducing the load on the two first linear hydraulic cylinders 421 to maintain the rotating connecting frames 412, avoiding the risk of the first linear hydraulic cylinders 421 exploding due to excessive load, and improving the safety during the lifting process of the aircraft wheels.

[0070] When the two support plates 411 are detached from the aircraft wheels, the first detection plate 911 is reset under the action of the torsion spring 9161, and the telescopic spring 4551 pushes the fixing member 451 out of the slot 452, releasing the fixing member 451 from the two rotating connecting frames 412, so that the two first linear hydraulic cylinders 421 can drive the two rotating connecting frames 412 to flip outward, and the aircraft wheels can be detached from the lifting port 11. The rotation of the first detection plate 911 drives the fixing frame to insert into the slot 452, thereby realizing automatic fixation of the two support members 41 and improving the convenience of fixing the two support members 41.

[0071] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A rodless traction AGV, characterized by: include: An AGV body (1), the AGV body (1) serving as a supporting body of the AGV and capable of towing the equipment to be towed; A lifting frame (2), one end of which is hinged to the AGV body (1) so as to be able to flip in a vertical direction; A lifting member (3), the lifting member (3) is fixedly arranged on the lifting frame (2), and the lifting member (3) is movably arranged below the plane where the wheel center of the wheel of the to-be-towed equipment is located, so that when the lifting member (3) moves below the plane where the wheel center is located, it can form support for the front side of the wheel of the to-be-towed equipment, so that the lifting member (3) can lift the wheel of the to-be-towed equipment; A wheel holding assembly (4), the wheel holding assembly (4) being operably arranged on the lifting frame (2) and capable of forming support for the rear side of the wheel of the equipment to be towed below the plane where the wheel center of the wheel of the equipment to be towed is located, so as to form a double-sided support for the wheel of the equipment to be towed together with the lifting member (3); A linear motion component (5) is hinged at one end to the lifting frame (2) and at the other end to the AGV body (1). The linear motion component (5) is used to drive the lifting frame (2) to rotate around the hinge point so as to lift the wheel of the equipment to be towed.

2. The rodless traction AGV according to claim 1, characterized in that: The wheel holding assembly (4) comprises a supporting member (41), a rotating driving member (42), and a linear telescopic member (43). The rotating driving member (42) is connected to the supporting member (41) so as to be able to drive the supporting member (41) to rotate, so that the supporting member (41) can be opposite to the rear side of the wheel of the equipment to be towed and deviate from the moving track of the wheel of the equipment to be towed. The linear telescopic member (43) is arranged on the lifting frame (2) and is connected to the rotating driving member (42) so as to be able to drive the supporting member (41) to move below the plane where the wheel center of the wheel of the equipment to be towed is located, thereby forming support for the wheel of the equipment to be towed.

3. The rodless traction AGV according to claim 2, characterized in that: A support surface (413) capable of contacting the wheel of the equipment to be towed is formed on the support member (41), and the support member (41) supports the rear side of the wheel of the equipment to be towed via the support surface (413).

4. The rodless traction AGV according to claim 2, characterized in that: The support member (41) is provided with a post-position detection component (91); The post-position detection assembly (91) comprises a first detection plate (911) and a first proximity switch (912). The first detection plate (911) is rotatably arranged on the support member (41). The support member (41) can drive the first detection plate (911) to squeeze the wheel of the to-be-pulled equipment, so that the first detection plate (911) rotates. The first proximity switch (912) is fixedly arranged on the support member (41). The first detection plate (911) is provided with a shielding member (915). The first detection plate (911) can drive the shielding member (915) to shield the induction head of the first proximity switch (912). The support member (41) is provided with a reset member (916) connected to the first detection plate (911). The reset member (916) can drive the first detection plate (911) to reset.

5. The rodless traction AGV according to claim 4, characterized in that: The wheel holding assembly (4) is divided into two groups, and a space for inserting the wheel of the equipment to be towed is formed between the two groups of the wheel holding assembly (4), and the two supporting members (41) rotate relative to each other to form a supporting structure for the wheel of the equipment to be towed; The two support members (41) can be connected via a support limiting member (45), and the support limiting member (45) can fix the two support limiting members (45) in a circumferential direction.

6. The rodless traction AGV according to claim 5, characterized in that: The support limiting member (45) comprises a fixing member (451) and two clamping grooves (452). The two clamping grooves (452) are respectively provided on the two support members (41). The fixing member (451) can be inserted into the two clamping grooves (452) when the two support members (41) are opposite to the wheels of the equipment to be towed, so as to support and fix the two support members (41) in pairs.

7. The rodless traction AGV according to claim 6, characterized in that: A guide rod (453) is fixed on one of the support members (41), and the guide rod (453) is slidably provided on the fixed member (451) to guide the fixed member (451) to slide into and out of the two slots (452). The support member (41) where the guide rod (453) is located is connected to the fixed member (451) via an elastic member (455), and the elastic member (455) can pull the fixed member (451) out of the two slots (452) to release the two The support member (41) is fixed. A driving block (456) is provided on the support member (41). One end of the driving block (456) extends to the free end of the first detection plate (911), and the other end is provided with a guide surface (457) capable of fitting with the fixed member (451). The driving can push the fixed member (451) to be inserted into the two slots (452) through the guide surface (457). When the first detection plate (911) is squeezed by the wheel of the to-be-pulled equipment and rotates, it pushes the driving block (456) to slide.

8. The rodless traction AGV according to claim 1, characterized in that: Also included is a connection component (6); The connecting assembly (6) includes a connecting member (61), a connecting seat (62) and a linear drive mechanism (63); the connecting seat (62) is fixedly connected to the AGV body (1); a slot (64) is provided on the connecting seat (62) for inserting a connecting rod (81) on the connected device (8); the linear drive mechanism (63) is fixedly connected to the AGV body (1) and is rotationally connected to the connecting member (61) so as to drive the connecting member (61) to rotate; a fixing slot (65) is provided on the connecting member (61); the connecting member (61) can drive the fixing slot (65) to fit the connecting rod (81) located in the slot (64) so ​​as to fix the AGV to the connected device (8).

9. The rodless traction AGV according to claim 1, characterized in that: It also includes two groups of steering drive assemblies (7), and the number of each group of steering drive assemblies (7) is at least two, and the two groups of steering drive assemblies (7) are arranged on both sides of the bottom surface of the AGV body (1) to form support for the AGV body (1); The steering drive assembly (7) includes a mounting plate (71), a bogie (72) and a differential steering wheel component (73); the mounting plate (71) is fixedly connected to the AGV body (1); the bogie (72) is rotatably connected to the mounting plate (71); the differential steering wheel component (73) is fixedly arranged on the bogie (72) and can steer the AGV; the mounting plate (71) is provided with a lifting member (77) connected to the bogie (72); and the lifting member (77) can lift the differential steering wheel component (73).

10. The rodless traction AGV according to claim 9, characterized in that: A fixed gear (74) is fixedly connected to the mounting plate (71), and the axis of the fixed gear (74) is coaxially arranged with the rotary axis of the bogie (72). An encoder (75) is fixedly provided on the bogie (72), and the encoder (75) is provided with a driven gear (76) meshing with the fixed gear (74).

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