An automatic docking and separation device for material vehicle traction

Abstract

The present invention discloses an automatic docking and separation device for material cart traction, comprising: a docking and traction component, and an adaptive docking and separation component adapted to the docking and traction component, wherein the docking and traction component is arranged at the head of the material cart; and the adaptive docking and separation component is arranged at the rear of the automatic guided vehicle and is configured to move in the vertical direction and swing around the horizontal axis. The automatic docking and separation between the automatic guided vehicle and the material cart are realized by the cooperation between the docking and traction component and the adaptive docking and separation component, which can meet the use requirements of the automatic guided vehicle in the assembly process, adopt a mechanical docking method, have high reliability, do not require excessively high centration, and can easily complete the docking within a large range.

Description

Technical Field

[0001] The invention relates to the technical field of automatic guided vehicles, and in particular to an automatic docking and separation device for material vehicle traction. Background Art

[0002] As the application areas of automatic vehicles expand, the requirements for automatic guided vehicles and the functions they need to have also change and improve with the different application industries. On some special equipment lines, the AGV cart is required to have a larger plane, which is convenient for loading the required assembly items on the one hand, and provides a platform for workers to stand on the other hand. Generally, during the assembly process, the parts to be assembled are placed on both sides of the assembly line, which occupies a large area, is inconvenient for workers to take the parts, and has low efficiency. Therefore, the current method is to place the required assembly items on the material cart, and use the AGV to tow the material cart so that it can be carried along, which can greatly improve the assembly efficiency and save assembly space.

[0003] In order to facilitate workers to assemble the required items on the material cart, after completing a round of assembly, the AGV needs to be separated from the small material cart in a fixed batching area. However, at present, the connection and disconnection between the AGV and the material cart still require manual operation, and the automatic connection and automatic uncoupling of the AGV and the material cart cannot be achieved. Therefore, a traction mechanism that can automatically connect and uncouple is needed. Summary of the invention

[0004] In view of the above problems, the inventor provides an automatic docking and separation device for material vehicle traction that can achieve fixation and automatic unhooking.

[0005] Specifically, the present invention is achieved by:

[0006] An automatic docking and separation device for material vehicle traction, comprising:

[0007] Docking traction assembly, placed on the head of the material car;

[0008] The adaptive docking and separation component is placed at the rear of the automatic guided vehicle and is adapted to the docking and traction component. The adaptive docking and separation component is configured to move in a vertical direction and swing around a horizontal axis.

[0009] Furthermore, the adaptive docking and separation component comprises:

[0010] Install the components and fix them to the automated guided vehicle;

[0011] The docking swing rod is arranged on the mounting assembly and is configured to move in the vertical direction and swing around the horizontal axis.

[0012] Furthermore, the mounting assembly is provided with:

[0013] Lifting module;

[0014] The connecting module is connected to the lifting module and is used to drive the docking swing rod to move in the vertical direction.

[0015] Furthermore, the lifting module comprises:

[0016] A driving member connected to the mounting assembly;

[0017] A lifting plate, arranged on the output shaft of the driving member;

[0018] A guide rod, vertically arranged on the mounting assembly, and the connection module is slidably connected to the guide rod;

[0019] The lifting rubber wheel is arranged on the lifting plate and connected with the connecting module, and is used for driving the connecting module to move up and down along the guide rod.

[0020] Further, the connection module is a bracket, and the bracket is slidably connected to the guide rod;

[0021] The docking swing rod is T-shaped and includes:

[0022] A connecting portion, movably connected to the bracket;

[0023] A docking portion, fixedly connected to the connecting portion, with a length no greater than the radius of the docking ring; in a use state, the docking portion is in a vertical state and is located inside the docking ring;

[0024] The return torsion spring is arranged on the connecting portion and is used for driving the docking portion to rotate around the horizontal axial direction of the connecting portion.

[0025] Furthermore, the docking traction assembly comprises:

[0026] A mounting frame, fixedly connected to the material cart;

[0027] The docking ring is fixedly connected to the mounting frame and is configured in a horizontal state. When in use, the docking swing rod is in a vertical state and is located inside the docking ring.

[0028] Furthermore, the automatic docking and separation device for material vehicle traction also includes: a detection component, which is arranged on the mounting component and is used to detect the position of the connection module.

[0029] Furthermore, the detection component comprises:

[0030] A detection sheet, arranged on the connection module;

[0031] High position detection switch;

[0032] The low position detection switch, the high position detection switch and the low position detection switch are used to detect the position of the connection module.

[0033] Furthermore, the installation assembly includes:

[0034] A mounting base, fixedly connected to the automatic guided vehicle;

[0035] The detection switch mounting seat is arranged on a side of the mounting seat close to the detection sheet.

[0036] Working principle of the present invention:

[0037] During docking, the docking swing rod collides with the docking ring, and under the action of the docking ring, the docking swing rod rotates inward (toward the direction of the automatic guided vehicle). As the docking ring continues to go deeper, the angle of the docking swing rod also increases. When the docking ring goes deeper to a certain extent, the end of the docking ring is separated from the docking swing rod. At this time, the docking swing rod is no longer squeezed and will automatically swing back and fall into the docking ring, thereby connecting the automatic guided vehicle and the material cart. When the automatic guided vehicle and the material cart reach the fixed batching area, the swing rod rises and disengages from the docking ring, and then the automatic guided vehicle moves away, and the automatic guided vehicle and the material cart can be automatically separated.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] (1) The automatic docking and separation device for material cart traction provided by the present invention realizes automatic docking and automatic separation between the automatic guided vehicle and the material cart, and can meet the use requirements of the automatic guided vehicle in the assembly process.

[0040] (2) The mechanical docking method is adopted, which has higher reliability.

[0041] (3) It does not require high alignment, and docking can be easily completed within a large range. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a schematic diagram of the use of the automatic docking and separation device for material vehicle traction in Example 1;

[0043] Figure 2 It is a structural schematic diagram of the automatic docking and separation device for material vehicle traction in Example 1;

[0044] Figure 3 It is a front view of the adaptive docking and separation assembly in Example 1;

[0045] Figure 4 It is a side view of the adaptive docking and separation assembly in Example 1;

[0046] Figure 5Schematic diagram of the principle of the automatic docking and separation device for the hopper car traction in Embodiment 1.

[0047] Reference numerals:

[0048] 11 - mounting seat; 12 - detection switch mounting seat; 2 - mounting frame; 3 - docking ring; 4 - docking swing rod; 41 - connecting part; 42 - docking part; 43 - return torsion spring; 51 - driving part; 52 - lifting disc; 53 - lifting rubber wheel; 54 - guide rod; 6 - support; 71 - high - level detection switch; 72 - low - level detection switch; 73 - detection piece; 8 - automatic guided vehicle; 9 - hopper car. Detailed implementation manners

[0049] The present invention will be further described in detail below in conjunction with the accompanying drawings through specific implementation manners.

[0050] Embodiment 1

[0051] As Figure 1-4 shown, the present invention provides an automatic docking and separation device for hopper car traction, including: an adaptive docking and separation component A and a docking and traction component B. The adaptive docking and separation component A is arranged at the tail of the automatic guided vehicle 8, and the docking and traction component B is arranged at the head of the hopper car 9 and is adapted to the adaptive docking and separation component A. Specifically, the adaptive docking and separation component A includes: a mounting component, a docking swing rod 4 and a detection component. The mounting component is fixedly connected to the automatic guided vehicle 8. The docking swing rod 4 is arranged on the connection module and is configured to move in the vertical direction and swing around the horizontal axis. The detection component is arranged on the mounting component and is used to detect the height at which the docking swing rod 4 is located. The docking and traction component B includes: a mounting frame 2 and a docking ring 4. One end of the mounting frame 2 is fixedly connected to the hopper car 9, and the other end is used to fix the docking ring 4. The docking ring 4 is horizontally arranged.

[0052] Furthermore, the mounting component includes: a mounting seat 11 and a detection switch mounting seat 73. The mounting seat 11 is integrally in a "C" shape and is fixed to the automatic guided vehicle 8 by bolts. It is provided with a lifting module and a connection module. Among them, the lifting module includes: a driving part 51, a lifting disc 52, a lifting rubber wheel 53 and a guide rod 54. The driving part 51 is fixedly connected to the mounting seat 11, and its output end faces the docking and traction component B. The driving part 51 is preferably a motor. The lifting disc 52 is arranged on the output shaft of the driving part 51 and rotates with the rotation of the output shaft. Two guide rods 54 are respectively arranged at both ends of the connection module. The connection module is slidably connected to the two guide rods 54. The lifting rubber wheel 53 is arranged on the lifting disc 52 and is connected to the connection module for driving the connection module to move up and down along the guide rod 54. Preferably, the connection module is a support 6, and its middle part is in a groove shape for clamping the lifting rubber wheel 53.

[0053] When lifting, the driving member 51 rotates, driving the lifting plate 52 to rotate, and then driving the lifting rubber wheel 53 to rotate with the driving member 51, giving the bracket 6 an upward force, so that it can rise along the guide rod 54. Similarly, the driving member 51 can drive the bracket 6 to descend.

[0054] Furthermore, the docking swing rod 4 is T-shaped, and includes: a connecting portion 41 and a docking portion 42. The two ends of the connecting portion 41 are respectively movably connected to the bracket 6, and a return torsion spring 43 is provided thereon. The return torsion spring 43 is used to drive the docking swing rod 4 back to the initial state. The docking portion 42 is fixed to the middle of the connecting portion 41, and its length is not greater than the radius of the docking ring 3 to ensure that the docking portion 42 can enter the docking ring 3. In the normal state, the docking portion is in a vertical state.

[0055] Specifically, Figure 5 As shown, the left and right deviation value of the central axis of the docking part 42 and the docking ring 3 is s, and the deviation angle of the central axis of the docking part 42 and the docking ring 3 is α. Through multiple experiments, the results are shown in Table 1, and the following conclusions are drawn: when the left and right deviation value s is within r and / or the deviation angle α is within 45°, the docking part 42 and the docking ring 3 can both complete the docking smoothly.

[0056] Table 1

[0057]

[0058]

[0059] (Note: In this case, the inner radius of the docking ring is r = 50mm, the diameter of the docking pendulum is 15mm, and the length is 80mm; there is a certain error in the measurement of the angle and deviation value.)

[0060] During docking, the automatic guided vehicle 8 drives the adaptive docking separation component A to move toward the material cart 9. When the docking portion 42 collides with the docking ring 3, the docking swing rod 4 rotates inward (toward the direction of the automatic guided vehicle 8) under the action of the docking ring 3. As the docking ring 3 continues to penetrate, the angle of the docking swing rod 4 also increases. When the docking ring 3 penetrates to a certain extent, the end of the docking ring 3 is separated from the docking portion 42. At this time, the docking swing rod 4 is no longer squeezed and will automatically swing back under the action of the return torsion spring 43 and fall into the docking ring 3, thereby connecting the automatic guided vehicle 8 with the material cart 9. When the automatic guided vehicle 8 and the material cart 9 arrive at the fixed batching area, the control system of the automatic guided vehicle 8 sends an in-position lifting signal to the driving member 51. After receiving the signal, the driving member 51 drives the lifting plate 52 to move, driving the docking swing rod 4 on the bracket 6 to rise and disengage from the docking ring 3. Then the automatic guided vehicle 8 moves away, and the automatic guided vehicle 8 and the material cart 9 can be automatically separated.

[0061] Furthermore, the detection assembly includes: a high-position detection switch 71 and a low-position detection switch 72 arranged on a detection switch mounting seat 73, a detection sheet 73 arranged on the bracket 6, and the detection switch mounting seat 73 is arranged on one side of the mounting seat close to the detection sheet 73. The high-position detection switch 71 and the low-position detection switch 72 judge the height of the docking rocker 4 by detecting the detection sheet 73, so as to control the start and stop of the driving member 51. When the low-position detection switch 72 detects the detection sheet 73, the docking rocker 4 is in a low position, which is also the initial position. During automatic separation, the detection sheet 73 on the bracket 6 will rise with the bracket 6. When the high-position detection switch 71 detects the detection sheet 73, the docking portion 42 is separated from the docking ring 3, and the driving member 51 can stop, completing the automatic separation.

[0062] In some embodiments, the detection component may also use a travel switch, an encoder, etc., that is, a travel switch is used to limit the movement position or travel of the bracket 6, so that it automatically moves or stops according to a certain movement position or travel. The encoder is used to measure the displacement of the bracket 6 through the metering drive member 51. The specific arrangement is not limited here, and those skilled in the art can arrange it on their own based on this application.

[0063] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the concept of the present invention, some simple deductions, modifications or substitutions can be made.

Claims

1. An automatic docking and separation device for material vehicle traction, characterized in that: include: Docking traction assembly, placed on the head of the material car; An adaptive docking and separation assembly is disposed at the rear of the automatic guided vehicle and is adapted to the docking and traction assembly, wherein the adaptive docking and separation assembly is configured to move in a vertical direction and swing around a horizontal axis; The adaptive docking and separation component comprises: Install the components and fix them to the automated guided vehicle; A docking swing rod, disposed on the mounting assembly and configured to move in a vertical direction and swing around a horizontal axis; The docking and traction assembly comprises: A mounting frame, fixedly connected to the material cart; A docking ring, fixedly connected to the mounting frame and arranged in a horizontal state, wherein when in use, the docking swing rod is in a vertical state and is located inside the docking ring; The mounting assembly is provided with: Lifting module; A connecting module, connected to the lifting module, and used to drive the docking swing rod to move in a vertical direction; The docking swing rod is T-shaped and includes: A connecting portion, movably connected to the connecting module; A docking portion, fixedly connected to the connecting portion, with a length no greater than a radius of the docking ring; in a use state, the docking portion is in a vertical state and is located inside the docking ring; The return torsion spring is arranged on the connecting portion and is used to drive the docking portion to rotate around the horizontal axial direction of the connecting portion.

2. The automatic docking and separation device for material vehicle traction according to claim 1, characterized in that: The lifting module comprises: A driving member, disposed on the mounting assembly and connected to a control system of the automated guided vehicle; A lifting plate, arranged on the output shaft of the driving member; A guide rod, vertically arranged on the mounting assembly, and the connection module is slidably connected to the guide rod; The lifting rubber wheel is arranged on the lifting plate and connected with the connecting module, and is used for driving the connecting module to move up and down along the guide rod.

3. The automatic docking and separation device for material vehicle traction according to claim 2, characterized in that: The connection module is a bracket, and the bracket is slidably connected to the guide rod.

4. The automatic docking and separation device for material vehicle traction according to claim 1, characterized in that: Also includes: A detection component is arranged on the mounting component and is used to detect the position of the connection module.

5. The automatic docking and separation device for material vehicle traction according to claim 4, characterized in that: The detection component comprises: A detection sheet, arranged on the connection module; High position detection switch; The low position detection switch, the high position detection switch and the low position detection switch are used to detect the position of the connection module.

6. The automatic docking and separation device for material vehicle traction according to claim 5, characterized in that: The installation assembly includes: A mounting base, fixedly connected to the automatic guided vehicle; The detection switch mounting seat is arranged on a side of the mounting seat close to the detection sheet.

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