H-Frame automated wire feed system for component transport

Abstract

The present invention belongs to the technical field of component transportation, and specifically relates to an H-Frame automated wire supply system for component transportation, including a line-side platform, a pallet, and an H-Frame automated connecting rod turnover vehicle. The line-side platform is fixed on the ground, and the H-Frame automated connecting rod turnover vehicle includes a main frame, a support and guide mechanism, a pick-up and delivery mechanism, a co-track connecting rod mechanism, and an electrical control component. The support and guide mechanism is used to support and guide the pallet, the pick-up and delivery mechanism is used to remove the pallet from the line-side platform or deliver the pallet to the line-side platform, and the co-track connecting rod mechanism is used to control the motion trajectory of the H-Frame automated connecting rod turnover vehicle. The present invention uses a towing AGV (or trailer) equipped with an H-Frame automated wire supply connecting rod turnover vehicle to supply wire. No human operation is required for the entire wire supply process. The H-Frame can automatically pick up / deliver pallets, and the automated wire supply is fatigue-free and can work 24 hours a day. At the same time, the price of this system is much lower than that of an AGV, and it is easy to maintain, has high compatibility and reliability, and has high production efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of component transportation, and in particular relates to an H-Frame automatic line supply system for component transportation. Background Art

[0002] When parts are transported online, material boxes, parts, etc. are generally placed on trolleys. A trolley is a wheeled material rack that comes in various forms. When selecting or designing a trolley, it is necessary to consider aspects such as material properties and material box properties, as well as traction (pushing). The transportation power of trolleys mainly includes three forms: human push (short distance), trailer traction, and AGV (Automated Guided Vehicle). Trailers and AGVs can generally tow multiple trolleys. When using AGV traction, it is also necessary to set up electromagnetic and other guidance methods to allow the AGV to automatically transport along a predetermined route. In addition, the management of the lineside warehouse is very important. In order to manage the lineside warehouse well, in addition to paying attention to the lineside warehouse itself, the improvement of the material online mode is equally important.

[0003] The existing forms of component transportation have the following main disadvantages:

[0004] 1) When conventional automobile parts loading equipment uses a trolley to supply wire, the trolleys are of different sizes and cannot be towed by trailers at the same time, making management inconvenient;

[0005] 2) When a conventional trailer is used to supply wire, it is necessary to manually unload the trolley from the trailer. The trolley is heavy, the operator fatigue intensity is high, and the production efficiency is low;

[0006] 3) When using a traction AGV to pull a trolley, it is also necessary to manually unload the trolley, which has low labor and production efficiency. One AGV can generally pull 1-2 trolleys, and the cost of AGV is relatively high. Summary of the invention

[0007] In order to solve the above technical problems, the present invention provides an H-Frame automated line supply system for component transportation, which can be manual, semi-automatic and fully automated. In the fully automated form, a traction AGV (or trailer) and an H-Frame automated connecting rod turnover vehicle are used to supply the line. No human operation is required for the entire line supply process. The H-Frame can automatically pick up / deliver pallets (material components, etc.). The automated line supply is fatigue-free and can work 24 hours a day. At the same time, the price is much lower than that of AGV, and it has high compatibility and reliability, high production capacity and efficiency, etc.

[0008] The present invention is implemented in this way. It provides an H-Frame automated line supply system for component transportation, including a line side platform, a pallet and an H-Frame automated connecting rod turnover vehicle. The line side platform is fixed on the ground, the pallet is used to hold the components, and the H-Frame automated connecting rod turnover vehicle includes a main frame, a support and guide mechanism, a pick-up and delivery mechanism and a co-track connecting rod mechanism. The support and guide mechanism is used to support and guide the pallet on the H-Frame automated connecting rod turnover vehicle, the pick-up and delivery mechanism is used to remove the pallet from the line side platform or deliver the pallet to the line side platform, and the co-track connecting rod mechanism is used to control the movement trajectory of the H-Frame automated connecting rod turnover vehicle.

[0009] Furthermore, the pick-up and delivery mechanism of the H-Frame automated connecting rod turnover vehicle includes a driving assembly, a lower fork, a middle fork, an upper fork, a locking pin seat, a locking pin and a locking pin lifting driving assembly. The lower fork and the middle fork are telescopically and slidably connected via bearings, the middle fork and the upper fork are telescopically and slidably connected via bearings, the lower fork is provided with a driven gear set A and a rack A, the middle fork is provided with a rack B meshing with the driven gear set A and a driven gear set B meshing with the rack A, the upper fork is provided with a rack C meshing with the driven gear set B, the driving assembly drives the driven gear set A to rotate, thereby realizing the synchronous extension or retraction of the middle fork and the upper fork, the locking pin seat is installed on the upper fork, two locking pins are installed at both ends of the locking pin seat in a manner that they can be ejected / retracted by springs, and the locking pin lifting driving assembly drives the ejection / retraction of the locking pin.

[0010] Furthermore, the line edge platform includes two rows of unpowered rollers A installed on both sides of the line edge platform, and the support and guide mechanism includes two rows of unpowered rollers B installed on both sides of the main frame.

[0011] Furthermore, the line edge platform also includes a base, an upper fixed frame, guide wheels A and a buffer pad. The base is two parallel strip bottom plates. The upper fixed frame is installed on the base with adjustable height. The guide wheels A are installed at the front end of the upper fixed frame to guide and correct the position of the pallet. The two rows of the unpowered rollers A are installed on the upper fixed frame, and the buffer pads are installed on the upper fixed frame at the tail of the unpowered rollers A.

[0012] Furthermore, the support and guide mechanism also includes guide wheels B and wear-resistant strips. There are four guide wheels B, which are respectively installed on the main frames corresponding to the head and tail ends of the two rows of unpowered rollers B. The wear-resistant strips are installed on the main frames at the upper ends of the two rows of unpowered rollers B.

[0013] Furthermore, the co-track connecting rod mechanism includes a traction assembly and a caster assembly, the traction assembly includes a traction connector, a traction, a traction locking pin, a traction base and a traction limit, the traction connector is connected to the traction pin, the traction is connected to the traction base pin, the traction base is connected to the main frame through a bearing, the traction limit is fixed on the frame on the lower side of the main frame, the caster assembly includes 4 groups, namely the left front wheel assembly, the right front wheel assembly, the left rear wheel assembly and the right rear wheel assembly, the traction base is connected to the 4 groups of caster assemblies respectively, to control the movement trajectory of the H-Frame automated connecting rod turnover vehicle.

[0014] Further, the left front wheel assembly includes a left front connecting rod, a left front pull tab, a left front caster bracket and a left front caster, the right front wheel assembly includes a right front connecting rod, a right front pull tab, a right front caster bracket and a right front caster, the left rear wheel assembly includes a left rear connecting rod, a left rear pull tab, a left rear caster bracket and a left rear caster, the right rear wheel assembly includes a right rear connecting rod, a right rear pull tab, a right rear caster bracket and a right rear caster, the traction base is respectively connected to the left front connecting rod and the right front connecting rod pin shaft, the left front connecting rod is connected to the left front pull tab pin shaft, the left front pull tab is screwed to the left front caster, the left front caster is fixed to the left front caster bracket with a turntable function, the right front connecting rod is connected to the right front pull tab pin shaft, the right front pull tab is screwed to the right front caster wheel, and the right front caster is fixed to the right front caster bracket with a turntable function, and the differential angle rotation of the left front caster and the right front caster can be achieved through the swing of the traction connector;

[0015] The same track connecting rod mechanism also includes a transition connecting rod, a tail hook base and a tail hook. The tail hook base is installed on the lower side of the rear end of the main frame through a pin shaft. The two ends of the transition connecting rod are respectively connected with the traction base and the tail hook base pin shafts. The tail hook base is respectively connected with the left rear connecting rod and the right rear connecting rod pin shafts. The left rear connecting rod is connected with the left rear pull-tab pin shaft. The left rear pull-tab is screwed with the left rear caster. The left rear caster is fixed on the left rear caster bracket with a turntable function. The right rear connecting rod is connected with the right rear pull-tab pin shaft. The right rear pull-tab is screwed with the right rear caster. The right rear caster is fixed on the right rear caster bracket with a turntable function; the tail hook is connected to the main frame through bolts, and the traction connector of the rear H-Frame automated connecting rod turnover vehicle is connected with the tail hook pin shaft of the front H-Frame automated connecting rod turnover vehicle.

[0016] Furthermore, the pallet includes a pallet body, a bottom support seat, a positioning sleeve, a positioning seat and a movable handle cover. The pallet body is divided into two parts, and the pallet body of each part is welded with corners on three sides, and the two parts of the pallet body are connected together by at least two connecting beams. There are two bottom support seats, which are respectively welded under the two parts of the pallet body and are used to dock with the two rows of unpowered rollers A of the line edge platform and the two rows of unpowered rollers B of the support and guide mechanism. There are two positioning seats, which are both fixed on the connecting beams. A positioning hole is opened in the middle of the positioning seat, and a positioning sleeve is set on the positioning hole. When the pallet is located on the H-Frame automated connecting rod turnover vehicle, the two locking pins can pass through the positioning sleeve after popping up to clamp the pallet. The movable handle cover is welded to the pallet body for plugging in the movable handle.

[0017] Further, the driving assembly includes a DC servo motor, a planetary reducer, a main shaft and a driving gear connected in sequence, and the driving gear is meshed with the driven gear set A to drive the driven gear set A to rotate;

[0018] The locking pin lifting drive assembly includes an electric cylinder drive assembly and a pedal drive assembly. The electric cylinder drive assembly includes an electric cylinder and a connecting rod B. The electric cylinder is fixed to the upper fork through an electric cylinder tail seat and an electric cylinder middle seat. An electric cylinder head seat is installed on the electric cylinder rod of the electric cylinder. The connecting rod B is a clamp type, and its two ends are respectively connected to the lower end of the locking pin. The electric cylinder head seat extends out and pushes the connecting rod B. The connecting rod B pulls the locking pin downward, and the electric cylinder head seat retracts away from the connecting rod B. Under the action of gravity, the connecting rod B returns to its original position, and the locking pin extends out; the electric cylinder drive assembly also includes a roller and a wire take-up device, and the power line and signal line of the electric cylinder It is introduced from the drum and collected into the wire take-up device, so that when the upper fork performs a linear telescopic movement, the electric cylinder wire can also be extended and retracted accordingly; the pedal drive assembly includes a release pedal A, a connecting rod A, a connecting rod C and a release pedal B, the release pedal A cooperates with the connecting rod A pin shaft, the connecting rod A cooperates with the connecting rod B pin shaft, when the release pedal A is stepped on, the connecting rod A is pulled, the connecting rod A pulls the connecting rod B, the connecting rod B pulls the locking pin downward, and vice versa upward, the release pedal B cooperates with the connecting rod C pin shaft, the connecting rod C cooperates with the connecting rod B pin shaft, when the release pedal C is stepped on or left, the locking pin performs a lifting movement.

[0019] Furthermore, it also includes an electrical control component, which includes a four-pin plug B and a four-pin plug A respectively installed at the front end and the rear end of the H-Frame automated connecting rod turnover vehicle, a driver, a step-down module, an intermediate relay, a first photoelectric switch, a second photoelectric switch, a third photoelectric switch, a fourth photoelectric switch, a fifth photoelectric switch, a sixth photoelectric switch, a seventh photoelectric switch, an eighth photoelectric switch, a proximity switch, a plug group and a PLC. The AGV or ordinary trailer is connected to the four-pin plug B of the first H-Frame automated connecting rod turnover vehicle through a wire, and two pins of the four-pin plug B are power input. The power output is paralleled into two paths, one of which is provided to the driver, which is connected to the driving component to drive the driven gear set A to rotate, and the other is connected to the step-down module, which is respectively connected to the intermediate relay, the lock pin lifting driving component, each photoelectric switch, proximity switch, and PLC. The 8 photoelectric switches and proximity switches are connected to the plug group, and the other 2 pins of the four-pin plug B are signal lines for communicating with the PLC. The driver, the intermediate relay, the plug group, and the four-pin plug A are all connected to the PLC, and the four-pin plug A is connected to the four-pin plug B of the next H-Frame automated connecting rod turnover vehicle;

[0020] Reflectors are installed at the front ends of the upper fixing frames, the first photoelectric switch and the fourth photoelectric switch are installed at the two ends of one side of the main frame, and the fifth photoelectric switch and the eighth photoelectric switch are installed at the two ends of the other side of the main frame. The two groups of photoelectric switches are used to receive signals from the reflectors, and the signals are transmitted to the PLC through the plug group, and then to the AGV to achieve deceleration and parking;

[0021] The second photoelectric switch and the seventh photoelectric switch are used to detect whether the pallet is on the H-Frame automated connecting rod turnover vehicle, and the signal is transmitted to the PLC and then to the AGV;

[0022] The third photoelectric switch and the sixth photoelectric switch are used to detect whether there is someone standing in front when the upper fork is extended. If there is someone, the signal is transmitted to the PLC, and the PLC controls the driving component to make an emergency stop action;

[0023] The proximity switch is used to provide the origin position, making it easier to find the origin position after a power outage.

[0024] Compared with the prior art, the advantages of the present invention are:

[0025] 1. Docking structure: It adopts unpowered roller and guide wheel for docking, with low rolling friction energy consumption, high safety factor, high bearing strength, and the tray adopts double-layer structure with high flexibility, which can adapt to appliances of different sizes;

[0026] 2. Same track connecting rod structure: small turning radius and same track, which greatly reduces the channel ratio and safety risks, while improving the efficiency of line supply;

[0027] 3.H-Frame automated turnover vehicle can complete self-pickup / delivery instructions, and can realize manual / semi-automatic / fully automatic control. It can also work together with AGV. AGV only needs to provide stop / go, pick up / deliver, and a few simple instructions. It has good stability and easy maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the wire edge platform structure of the present invention;

[0029] Figure 2 This is a schematic diagram of the structure of the tray of the present invention;

[0030] Figure 3 This is a schematic diagram of the overall structure of the H-Frame automated connecting rod turnover vehicle of the present invention;

[0031] Figure 4 It is a schematic diagram of the structural position relationship between the support and guide mechanism and the main frame of the H-Frame automated connecting rod turnover vehicle of the present invention;

[0032] Figure 5 This is a schematic diagram of the structure of the H-Frame automated connecting rod turnover vehicle pick-up and delivery mechanism of the present invention;

[0033] Figure 6 This is an enlarged structural diagram of the electric cylinder drive component in the pick-up and delivery mechanism;

[0034] Figure 7 It is an enlarged structural diagram of the pedal drive component part in the pick-up and delivery mechanism;

[0035] Figure 8 This is a schematic diagram of the structure of the same-track connecting rod mechanism of the H-Frame automated connecting rod turnover vehicle of the present invention;

[0036] Fig. 9 This is a schematic diagram of the connection relationship between the components of the electrical control assembly of the H-Frame automated connecting rod turnover vehicle of the present invention;

[0037] Fig.10 The figure is a schematic diagram of the positional relationship of the components of the electrical control assembly on the H-Frame automated connecting rod turnover vehicle of the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0039] In order to improve the transportation efficiency of components and overcome the drawbacks of existing component transportation, the present invention provides an H-Frame automatic wire supply system for component transportation, which can be selected in three forms: manual, semi-automatic and fully automated. In the fully automated form, a traction AGV and an H-Frame automatic wire supply connecting rod turnover vehicle are used to supply wires, and no human operation is required for the entire wire supply process. The H-Frame can automatically pick up / deliver pallets, and the automatic wire supply is fatigue-free and can work 24 hours a day. At the same time, the price is much lower than that of AGV, and it has high compatibility and reliability, high production efficiency, etc.

[0040] refer to Figure 1 , Figure 2 and Figure 3 , provides an H-Frame automated wire supply system for component transportation, including a wire side platform 1, a pallet 2 and an H-Frame automated connecting rod turnover vehicle, the wire side platform 1 is arranged at the starting point and the end point of component transportation, and includes a base 101, an upper fixed frame 102, a guide wheel A103, two rows of unpowered rollers A104 and a buffer pad 106, the base 101 is two parallel strip bottom plates, connected to the ground with expansion bolts, and each strip bottom plate is provided with a plurality of holes to facilitate the adjustment of the installation of other components of the wire side platform 1 The upper fixed frame 102 is mounted on the base 101 with adjustable height by bolts, the guide wheel A103 is mounted on the front end of the upper fixed frame 102, and is used to guide and correct the position of the pallet 2, two rows of unpowered rollers A104 are mounted on the upper fixed frame 102 on both sides of the line edge platform 1, and the front ends of the two rows of unpowered rollers A104 are gently sloped, which is convenient for guiding and extending the pallet 2, and the buffer pad 106 is mounted on the upper fixed frame 102 at the tail of the unpowered roller A104, and is used to limit the position of the pallet 2 and absorb the kinetic energy of the pallet 2.

[0041] refer to Figure 2The tray 2 includes a tray body 201, a bottom support seat 202, a positioning sleeve 203, a positioning seat 204 and a movable handle cover 205. The tray body 201 is divided into two parts and is formed by welding profiles. The tray body 201 of each part is welded with corners on three sides to facilitate the guidance and positioning of components and tools. The two parts of the tray body 201 are connected together by at least two connecting beams. The bottom support seat 202 is provided with two, which are respectively welded under the two parts of the tray body 201, and both ends of the bottom support seat 202 are sloped, which are used to connect with the two rows of non-powered rollers A104 and the support of the line edge platform 1. The two rows of unpowered rollers B401 of the guide mechanism 4 are docked to better introduce the pallet 2. Two positioning seats 204 are provided, both of which are fixed on the connecting beam. A positioning hole is opened in the middle of the positioning seat 204, and the positioning hole is connected to the positioning sleeve 203, which is used to insert the positioning device on the H-Frame automated connecting rod turnover vehicle to position the pallet 2. The positioning seat 204 and the positioning sleeve 203 both have a slope guiding function. The movable handle cover 205 is welded to the two parts of the pallet body 201. Two movable handle covers 205 are provided for plugging in movable handles to facilitate the picking up / delivering of the pallet 2 in manual mode.

[0042] refer to Figure 3 The H-Frame automated connecting rod turnover vehicle includes a main frame 3, a support and guide mechanism 4, a pick-up and delivery mechanism 5 and a co-track connecting rod mechanism 6:

[0043] refer to Figure 4 The main frame 3 is formed by welding of profiles, which has high strength and strong bearing capacity. The support and guide mechanism 4 is used to support and guide the pallet 2 on the H-Frame automated connecting rod turnover vehicle, including two rows of unpowered rollers B401, which are installed on both sides of the main frame 3, and the front ends of the two rows of unpowered rollers B401 are gently sloped, which is convenient for guiding and introducing the pallet 2. The support and guide mechanism 4 also includes guide wheels B402 and wear-resistant strips 403. There are 4 guide wheels B402, which are respectively installed on the main frame 3 corresponding to the head and tail ends of the two rows of unpowered rollers B401, and are used to guide and correct the position of the pallet for docking. The wear-resistant strips 403 are installed on the main frame 3 at the upper ends of the two rows of unpowered rollers B401, which is convenient for guiding the pallet 2 and reducing friction.

[0044] refer to Figure 5The pick-up and delivery mechanism 5 is used to take the pallet off the line-side platform 1 or deliver the pallet to the line-side platform 1. The pick-up and delivery mechanism 5 includes a driving assembly, namely a DC servo motor 501, a planetary reducer 502, a main shaft 503 and a driving gear 504 connected in sequence. The DC servo motor 501 is connected to the planetary reducer 502 by a sleeve, and the planetary reducer (502) and the main shaft (503) are connected by a key to transmit torque. The main shaft (503) and the driving gear (504) are key-connected. The pick-up and delivery mechanism 5 also includes a lower fork 506, a middle fork 527, an upper fork 526, a lock pin seat 523, a lock pin 524 and a lock pin lifting drive assembly. The lower fork 506 and the middle fork 527 are connected in a telescopic and slidable manner through a wear-resistant block 510 and a bearing 511. The wear-resistant block 510 is used to prevent excessive wear between the lower fork 506 and the middle fork 527. The middle fork 527 and the upper fork 526 are also connected in a telescopic and slidable manner through the bearing 511 and the wear-resistant block 510. The lower fork 506 is provided with a driven gear set A505 and a rack A507. The middle fork 527 is provided with a rack B528 meshing with the driven gear set A505 and a driven gear set B512 meshing with the rack A507. The upper fork 526 is provided with a rack C515 meshing with the driven gear set B512. The driving gear 504 meshes with the driven gear set A505 to drive the driven gear set A505 to rotate, thereby realizing the synchronous extension or retraction of the middle fork 527 and the upper fork 526. The lock pin seat 523 is installed on the upper fork 526. Two lock pins 524 are installed at both ends of the lock pin seat 523 so as to be ejectable / retractable through springs 525. The lock pin lifting drive assembly drives the ejection / retraction of the lock pin 524.

[0045] refer to Figure 6 and Figure 7The lock pin lifting drive assembly includes an electric cylinder drive assembly and a pedal drive assembly. The electric cylinder drive assembly includes an electric cylinder 521 and a connecting rod B516. The electric cylinder 521 is fixed on the upper fork 526 through an electric cylinder tail seat 519 and an electric cylinder middle seat 520. An electric cylinder head seat 522 is installed on the electric cylinder rod of the electric cylinder 521. The connecting rod B516 is a clip type, and its two ends are respectively connected to the lower end of the lock pin 524. The electric cylinder head seat 522 extends out and pushes the connecting rod B516. The connecting rod B516 pulls the lock pin 524 downward, and the electric cylinder head seat 522 retracts and moves away from the connecting rod B516. Under the action of gravity, the connecting rod B516 returns to its original position, and the lock pin 524 extends out. The electric cylinder drive assembly also includes a roller 508 and a wire take-up device 509. The power line and signal line of the electric cylinder 521 are connected from the roller 5 08 is introduced and received into the wire take-up device 509, so that when the upper fork 526 performs linear telescopic movement, the wire of the electric cylinder 521 can also be extended and retracted accordingly; the pedal drive assembly includes a release pedal A513, a connecting rod A514, a connecting rod C517 and a release pedal B518, the release pedal A513 cooperates with the connecting rod A514 pin shaft, the connecting rod A514 cooperates with the connecting rod B516 pin shaft, when the release pedal A513 is stepped on, the connecting rod A514 is pulled, the connecting rod A514 pulls the connecting rod B516, the connecting rod B516 pulls the locking pin 524 downward, and vice versa upward, the release pedal B518 cooperates with the connecting rod C517 pin shaft, the connecting rod C517 cooperates with the connecting rod B516 pin shaft, when the release pedal C518 is stepped on or left, the locking pin 524 performs a lifting movement.

[0046] refer to Figure 8 , the co-track linkage mechanism 6 is used to control the motion trajectory of the H-Frame automated linkage turnover vehicle. The co-track linkage mechanism 6 includes a traction assembly and a caster assembly. The traction assembly includes a traction connector 601, a traction 602, a traction lock pin 603, a traction base 605 and a traction limit 606. The traction connector 601 is connected to the traction 602 pin shaft, and the traction 602 is connected to the traction base 605 pin shaft. The traction base 605 is connected to the main frame 3 through a bearing. The traction limit 606 is fixed on the frame on the lower side of the main frame 3. The traction lock pin 603 is configured on the traction 602, and the traction 602 can be limited at a right angle to reduce the storage space. The caster assembly includes 4 groups, namely the left front wheel assembly, the right front wheel assembly, the left rear wheel assembly and the right rear wheel assembly. The traction base 605 is connected to the 4 groups of caster assemblies respectively to control the motion trajectory of the H-Frame automated linkage turnover vehicle.

[0047] The left front wheel assembly includes a left front connecting rod 610, a left front pull tab 609, a left front caster bracket 607 and a left front caster 608, the right front wheel assembly includes a right front connecting rod 620, a right front pull tab 621, a right front caster bracket 623 and a right front caster 622, the left rear wheel assembly includes a left rear connecting rod 613, a left rear pull tab 614, a left rear caster bracket 624 and a left rear caster 615, the right rear wheel assembly includes a right rear connecting rod 619, a right rear pull tab 618, a right rear caster bracket 625 and a right rear caster 617, the traction base 605 is respectively connected to the left front connecting rod 61 0 is connected to the right front connecting rod 620 by a pin, the left front connecting rod 610 is connected to the left front pull tab 609 by a pin, the left front pull tab 609 is screwed to the left front caster 608, the left front caster 608 is fixed to the left front caster bracket 607 with a turntable function, the right front connecting rod 620 is connected to the right front pull tab 621 by a pin, the right front pull tab 621 is screwed to the right front caster 622, the right front caster 622 is fixed to the right front caster bracket 623 with a turntable function, and the differential angle rotation of the left front caster 608 and the right front caster 622 can be achieved through the swing of the traction connector 601;

[0048] The same track connecting rod mechanism 6 also includes a transition connecting rod 611, a tail hook base 612 and a tail hook 616. The tail hook base 612 is installed on the lower side of the rear end of the main frame 3 through a pin shaft. The two ends of the transition connecting rod 611 are respectively connected to the traction base 605 and the tail hook base 612 by pin shafts. The tail hook base 612 is respectively connected to the left rear connecting rod 613 and the right rear connecting rod 619 by pin shafts. The left rear connecting rod 613 is connected to the left rear pull tab 614 by pin shafts. The left rear pull tab 614 is screwed to the left rear caster 615. 615 is fixed on the left rear caster bracket 607 with a turntable function, the right rear connecting rod 619 is connected to the right rear pull tab 618 by a pin, the right rear pull tab 618 is screwed to the right rear caster 617, and the right rear caster 617 is fixed to the right rear caster bracket 625 with a turntable function; the tail hook 606 is connected to the main frame 3 by bolts, and the traction connector 601 of the rear H-Frame automated connecting rod turnover vehicle is connected to the tail hook 616 of the front H-Frame automated connecting rod turnover vehicle by a pin. In order to buffer the force forward tilt and impact kinetic energy of the traction 60) when parking, the traction assembly also includes a shock-absorbing pad 604, which is arranged at the connection between the traction 602 and the traction base 605.

[0049] The traction connector 601 can solve the problem of the traction 602 being stuck and the casters not touching the ground due to uneven ground. Through the swing of the traction 602, the left front caster 608 and the left rear caster 615, the right front caster 622 and the right rear caster 617 make mirror motion, so that the turning trajectory position of the left front caster 608 and the left rear caster 615 are the same, and the turning trajectory position of the right front caster 622 and the right rear caster 617 are the same. At the same time, the swing angle of the traction base 605 is limited by the traction limit 606 to achieve the synchronous turning function and reduce the turning radius. The mechanism has a smaller turning radius than two fixed-wheel and universal-wheel trolleys, and at the same time, the turning trajectory is the same, the occupied channel size is small, and the risk of channel collision is minimized.

[0050] In order to ensure full automation, refer to Fig. 9 and Fig.10 , and also includes an electrical control component 7, which includes a four-pin plug B717 and a four-pin plug A716 respectively installed at the front end and the rear end of the H-Frame automated connecting rod turnover vehicle, a driver 709, a step-down module 710, an intermediate relay 707, a first photoelectric switch 701, a second photoelectric switch 702, a third photoelectric switch 703, a fourth photoelectric switch 704, a fifth photoelectric switch 711, a sixth photoelectric switch 712, a seventh photoelectric switch 714, an eighth photoelectric switch 715, a proximity switch 713, a plug group 705 and a PLC 706. The AGV or ordinary trailer is connected to the four-pin plug B717 of the first H-Frame automated connecting rod turnover vehicle through a wire, and two pins of the four-pin plug B717 are power output , the power output is paralleled into two paths, one path is provided to the driver 709, the driver 709 is connected to the driving component, driving the driven gear set A505 to rotate, and the other path is connected to the step-down module 710, the step-down module 710 is respectively connected to the intermediate relay 707, the lock pin lifting driving component, each photoelectric switch, the proximity switch 713, and the PLC706, the 8 photoelectric switches and the proximity switch are connected to the plug group 705, and the other 2 pins of the four-pin plug B717 are signal lines, communicating with the PLC706, and the driver 709, the intermediate relay 707, the plug group 705, and the four-pin plug A716 are all connected to the PLC706, and the four-pin plug A716 is connected to the four-pin plug B717 of the next H-Frame automated connecting rod turnover vehicle;

[0051] Reflectors 105 are installed at the front end of the upper fixed frame 102, the first photoelectric switch 701 and the fourth photoelectric switch 704 are installed at the two ends of one side of the main frame 3, the fifth photoelectric switch 711 and the eighth photoelectric switch 715 are installed at the two ends of the other side of the main frame 3, and the two groups of photoelectric switches are used to receive signals from the reflectors 105, and the signals are transmitted to the PLC 706 through the plug group 705, and then transmitted to the AGV to achieve deceleration and parking. When the first reflector on the upper fixed frame 102 is connected to the first photoelectric switch on the H-Frame automated connecting rod turnover vehicle, the AGV starts to decelerate, and when the second reflector is connected to the first photoelectric switch on the H-Frame automated connecting rod turnover vehicle, and the first reflector is connected to the second photoelectric switch on the H-Frame automated connecting rod turnover vehicle at the same time, the H-Frame automated connecting rod turnover vehicle stops;

[0052] The second photoelectric switch 702 and the seventh photoelectric switch 714 are installed on the main frame 3 to detect whether there is the pallet 2 on the H-Frame automated connecting rod turnover vehicle. The signal is transmitted to the PLC 706 and then to the AGV. When there is a pallet, only delivery can be performed, and when there is no pallet, the pickup action can be performed;

[0053] The third photoelectric switch 703 and the sixth photoelectric switch 712 are installed on the lower fork 506, and are used to detect whether there is someone standing in front when the upper fork 526 is extended. If there is someone, the signal is transmitted to the PLC, and the PLC controls the driving component to make an emergency stop action;

[0054] The proximity switch 713 is installed on the lower fork 506, and the motion track of the middle fork 527 provides a blocking signal for it, which is used to provide the origin position, so as to facilitate the re-finding of the origin position after a power outage. The so-called origin position is the position where the middle fork 527 and the upper fork 526 are both retracted. In this state, the proximity switch 713 is blocked by 1 / 3-2 / 3. When an unexpected power outage occurs, the middle fork 527 and the upper fork 526 are not at the origin position, and the proximity switch 713 is completely blocked. After power is turned on again, the proximity switch 713 is sensed and the program set in the PLC is used to control the drive component to return the middle fork 527 and the upper fork 526 to the origin.

[0055] One end of the driver 709 is connected to the DC servo motor 501 to provide power and speed, and the other end is connected to PLC706 for communication. The PLC program gives pulse instructions to determine the motor speed and position. PLC706 controls the extension and retraction of the electric cylinder 521 through the intermediate relay 707. Through the PLC706 logic programming, the H-Frame automated turnover vehicle can complete self-pickup / delivery instructions, and can achieve semi-automatic / fully automatic control. At the same time, it can also cooperate with AGV. AGV only needs to provide stop / go, pick up / delivery, and a few simple instructions, with good stability and easy maintenance.

[0056] When operated manually, when manually towing (without a trailer) or when a trailer or AGV is towing the H-Frame automated linkage turnover vehicle, a person can release the pedal by stepping on it and push the pallet toward the line side platform or toward the H-Frame at the same time, thus realizing the manual delivery function;

[0057] During semi-automatic operation, the H-Frame automated connecting rod turnover vehicle is towed manually or by a trailer. The pick-up and delivery mechanism 5 of the H-Frame automated connecting rod turnover vehicle can be connected to a control box or a remote controller via wireless communication or communication lines and installed on the trailer. The trailer only needs to pull the H-Frame automated connecting rod turnover vehicle to the line side platform and press the pick-up / delivery button, and the H-Frame automated connecting rod turnover vehicle can automatically complete the pick-up and delivery actions.

Claims

1. H-Frame automated wire feeding system for component transportation, characterized by: The invention comprises a line side platform (1), a pallet (2) and an H-Frame automated connecting rod turnover vehicle, wherein the line side platform (1) is fixed on the ground, the pallet (2) is used to hold components, and the H-Frame automated connecting rod turnover vehicle comprises a main frame (3), a support and guide mechanism (4), a pick-up and delivery mechanism (5) and a co-track connecting rod mechanism (6), wherein the support and guide mechanism (4) is used to support and guide the pallet on the H-Frame automated connecting rod turnover vehicle, the pick-up and delivery mechanism (5) is used to remove the pallet from the line side platform (1) or deliver the pallet to the line side platform (1), and the co-track connecting rod mechanism (6) is used to control the motion trajectory of the H-Frame automated connecting rod turnover vehicle; The pick-up and delivery mechanism (5) of the H-Frame automated connecting rod turnover vehicle comprises a drive assembly, a lower fork (506), a middle fork (527), an upper fork (526), ​​a locking pin seat (523), a locking pin (524) and a locking pin lifting drive assembly, wherein the lower fork (506) and the middle fork (527) are connected in a telescopic and slidable manner via a bearing, the middle fork (527) and the upper fork (526) are connected in a telescopic and slidable manner via a bearing, the lower fork (506) is provided with a driven gear set A (505) and a rack A (507), and the middle fork (527) is provided with a rack B meshing with the driven gear set A (505). (528) and a driven gear set B (512) meshing with the rack A (507), the upper fork (526) is provided with a rack C (515) meshing with the driven gear set B (512), the driving assembly drives the driven gear set A (505) to rotate, thereby realizing the synchronous extension or retraction of the middle fork (527) and the upper fork (526), ​​the lock pin seat (523) is installed on the upper fork (526), ​​two lock pins (524) are installed through the two ends of the lock pin seat (523) so as to be ejectable / retractable through springs (525), and the lock pin lifting drive assembly drives the ejection / retraction of the lock pin (524); The line edge platform (1) comprises two rows of unpowered rollers A (104) installed on both sides of the line edge platform (1), and the support and guide mechanism (4) comprises two rows of unpowered rollers B (401) installed on both sides of the main frame (3); The co-track connecting rod mechanism (6) comprises a traction assembly and a caster assembly. The traction assembly comprises a traction connector (601), a traction (602), a traction locking pin (603), a traction base (605) and a traction limiter (606). The traction connector (601) is connected to the traction (602) pin shaft. The traction (602) is connected to the traction base (605) pin shaft. The traction base (605) is connected to the main frame (3) via a bearing. The traction limiter (606) is fixed to the frame at the lower side of the main frame (3). The caster assembly comprises four groups, namely a left front wheel assembly, a right front wheel assembly, a left rear wheel assembly and a right rear wheel assembly. The traction base (605) is connected to the four groups of caster assemblies respectively to control the movement trajectory of the H-Frame automated connecting rod turnover vehicle.

2. The H-Frame automated wire supply system for component transportation according to claim 1, characterized in that: The line edge platform (1) further comprises a base (101), an upper fixed frame (102), a guide wheel A (103) and a buffer pad (106); the base (101) is two parallel strip bottom plates; the upper fixed frame (102) is mounted on the base (101) in an adjustable height; the guide wheel A (103) is mounted at the front end of the upper fixed frame (102) for guiding and correcting the position of the tray (2); two rows of the unpowered rollers A (104) are mounted on the upper fixed frame (102); and the buffer pad (106) is mounted on the upper fixed frame (102) at the tail of the unpowered rollers A (104).

3. The H-Frame automated wire supply system for component transportation according to claim 1, characterized in that: The support and guide mechanism (4) further comprises guide wheels B (402) and wear-resistant strips (403). Four guide wheels B (402) are provided and are respectively mounted on the main frame (3) corresponding to the head end and the tail end of the two rows of unpowered rollers B (401). The wear-resistant strips (403) are mounted on the main frame (3) at the upper ends of the two rows of unpowered rollers B (401).

4. The H-Frame automated wire supply system for component transportation according to claim 1, characterized in that: The left front wheel assembly comprises a left front connecting rod (610), a left front pull tab (609), a left front caster bracket (607) and a left front caster (608); the right front wheel assembly comprises a right front connecting rod (620), a right front pull tab (621), a right front caster bracket (623) and a right front caster (622); the left rear wheel assembly comprises a left rear connecting rod (613), a left rear pull tab (614), a left rear caster bracket (624) and a left rear caster (615); the right rear wheel assembly comprises a right rear connecting rod (619), a right rear pull tab (618), a right rear caster bracket (625) and a right rear caster (617); the traction base (605) is respectively connected to the left front connecting rod and the right rear pull tab. (610) and the right front connecting rod (620) are pin-connected, the left front connecting rod (610) is pin-connected with the left front pull-tab (609), the left front pull-tab (609) is screw-connected with the left front caster (608), the left front caster (608) is fixed on the left front caster bracket (607) with a turntable function, the right front connecting rod (620) is pin-connected with the right front pull-tab (621), the right front pull-tab (621) is screw-connected with the right front caster (622), the right front caster (622) is fixed on the right front caster bracket (623) with a turntable function, and the left front caster (608) and the right front caster (622) can be rotated at a differential angle by swinging the traction connector (601); The on-track link mechanism (6) further comprises a transition link (611), a tail hook base (612) and a tail hook (616); the tail hook base (612) is mounted on the lower side of the rear end of the main frame (3) via a pin shaft; the two ends of the transition link (611) are respectively connected to the traction base (605) and the tail hook base (612) via a pin shaft; the tail hook base (612) is respectively connected to the left rear link (613) and the right rear link (619) via a pin shaft; the left rear link (613) is connected to the left rear pull tab (614) via a pin shaft; the left rear pull tab (614) is screwed to the left rear caster (615) The left rear caster (615) is fixed on the left rear caster bracket (624) with a turntable function, the right rear connecting rod (619) is pin-connected to the right rear pull tab (618), the right rear pull tab (618) is screw-connected to the right rear caster (617), and the right rear caster (617) is fixed on the right rear caster bracket (625) with a turntable function; the tail hook (616) is bolted to the main frame (3), and the traction connector (601) of the rear H-Frame automated connecting rod turnover vehicle is pin-connected to the tail hook (616) of the front H-Frame automated connecting rod turnover vehicle.

5. The H-Frame automated wire feeding system for component transportation according to claim 1, characterized in that: The pallet (2) comprises a pallet body (201), a bottom support seat (202), a positioning sleeve (203), a positioning seat (204) and a movable handle cover (205). The pallet body (201) is divided into two parts. The pallet body (201) of each part is welded with corners on three sides, and the two parts of the pallet body (201) are connected together by at least two connecting crossbeams. Two bottom support seats (202) are provided, which are respectively welded to the bottom of the two parts of the pallet body (201) and are used to connect with the two rows of non-powered rollers A (1) of the line edge platform (1). 04) and the two rows of unpowered rollers B (401) of the support and guide mechanism (4), two positioning seats (204) are provided, both of which are fixed on the connecting beam, a positioning hole is opened in the middle of the positioning seat (204), and a positioning sleeve (203) is set on the positioning hole. When the pallet (2) is located on the H-Frame automated connecting rod turnover vehicle, the two locking pins (524) can pass through the positioning sleeve (203) after being popped up to clamp the pallet (2), and the movable handle cover (205) is welded on the pallet body (201) for plugging the movable handle.

6. The H-Frame automated wire feeding system for component transportation according to claim 1, characterized in that: The driving assembly comprises a DC servo motor (501), a planetary reducer (502), a main shaft (503) and a driving gear (504) connected in sequence, wherein the driving gear (504) meshes with the driven gear set A (505) to drive the driven gear set A (505) to rotate; The lock pin lifting drive assembly comprises an electric cylinder drive assembly and a pedal drive assembly. The electric cylinder drive assembly comprises an electric cylinder (521) and a connecting rod B (516). The electric cylinder (521) is fixed to the upper fork (526) via an electric cylinder tail seat (519) and an electric cylinder middle seat (520). An electric cylinder head seat (522) is installed on the electric cylinder rod of the electric cylinder (521). The connecting rod B (516) is a clip type, and both ends are respectively connected to the lower end of the lock pin (524). The electric cylinder head seat (522) extends out, pushing the connecting rod B (516), the connecting rod B (516) rotates to drive the locking pin (524) to move downward, the electric cylinder head seat (522) retracts and moves away from the connecting rod B (516), the connecting rod B (516) returns to its original position under the action of gravity, and the locking pin (524) extends out; the electric cylinder drive assembly also includes a roller (508) and a wire take-up device (509), and the power line and signal line of the electric cylinder (521) are connected from the roller (508) to the wire take-up device (509). 8) is introduced and received into the wire take-up device (509), so that when the upper fork (526) performs linear telescopic motion, the wire of the electric cylinder (521) can also be extended and retracted accordingly; the pedal drive assembly includes a release pedal A (513), a connecting rod A (514), a connecting rod C (517) and a release pedal B (518), the release pedal A (513) and the connecting rod A (514) are matched with a pin shaft, and the connecting rod A (514) and the connecting rod B (516) are matched with each other. The pin shaft cooperates, and when the release pedal A (513) is stepped on, the connecting rod A (514) is pulled, and the connecting rod A (514) pulls the connecting rod B (516), and the connecting rod B (516) pulls the locking pin (524) downward, and vice versa upward, the release pedal B (518) cooperates with the connecting rod C (517) pin shaft, and the connecting rod C (517) cooperates with the connecting rod B (516) pin shaft, and when the release pedal B (518) is stepped on or released, the locking pin (524) performs a lifting movement.

7. The H-Frame automated wire feeding system for component transportation according to claim 2, characterized in that: The AGV or ordinary trailer is connected to the four-pin plug B (717) of the first H-Frame automated link turnover vehicle through a wire, wherein the four-pin plug B (717) and the four-pin plug A (716) are respectively installed at the front end and the rear end of the H-Frame automated link turnover vehicle, a driver (709), a step-down module (710), an intermediate relay (707), a first photoelectric switch (701), a second photoelectric switch (702), a third photoelectric switch (703), a fourth photoelectric switch (704), a fifth photoelectric switch (711), a sixth photoelectric switch (712), a seventh photoelectric switch (714), an eighth photoelectric switch (715), a proximity switch (713), a plug group (705) and a PLC (706). The AGV or ordinary trailer is connected to the four-pin plug B (717) of the first H-Frame automated link turnover vehicle through a wire, wherein two pins of the four-pin plug B (717) are power input pins. The power output is output in two ways, one way is provided to the driver (709), the driver (709) is connected to the driving component, and drives the driven gear set A (505) to rotate, and the other way is connected to the step-down module (710), and the step-down module (710) is respectively connected to the intermediate relay (707), the lock pin lifting driving component, each photoelectric switch, the proximity switch (713), and the PLC (706), and the eight photoelectric switches and the proximity switch are connected to the plug group (705). The other two pins of the four-pin plug B (717) are signal lines, which communicate with the PLC (706), and the driver (709), the intermediate relay (707), the plug group (705), and the four-pin plug A (716) are all connected to the PLC (706), and the four-pin plug A (716) is connected to the four-pin plug B (717) of the next H-Frame automated connecting rod turnover vehicle; A reflective plate (105) is installed at the front end of the upper fixing frame (102), the first photoelectric switch (701) and the fourth photoelectric switch (704) are installed at two ends of one side of the main frame (3), and the fifth photoelectric switch (711) and the eighth photoelectric switch (715) are installed at two ends of the other side of the main frame (3), and the two groups of photoelectric switches are used to receive signals from the reflective plate (105), and the signals are transmitted to the PLC (706) through the plug group (705), and then transmitted to the AGV to achieve deceleration and parking; The second photoelectric switch (702) and the seventh photoelectric switch (714) are used to detect whether the pallet (2) is on the H-Frame automated link turnover vehicle, and the signal is transmitted to the PLC (706) and then to the AGV; The third photoelectric switch (703) and the sixth photoelectric switch (712) are used to detect whether there is someone standing in front of the upper fork (526) when it is extended. If there is someone, the signal is transmitted to the PLC, and the PLC controls the driving component to perform an emergency stop action; The proximity switch (713) is used to provide an origin position, so as to facilitate finding the origin position after a power outage.

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