A two-vehicle collaborative transportation multi-directional decoupling system

Abstract

The present invention relates to a dual-vehicle collaborative transportation multi-directional decoupling system, including an AGV main vehicle, an AGV slave vehicle, a main vehicle decoupling device, a slave vehicle decoupling device, and a lifting device. It is characterized in that: the lifting device and the main vehicle linkage device are arranged at the middle position of the AGV main vehicle, and the lifting device and the slave vehicle linkage device are arranged at the middle position of the AGV slave vehicle. The AGV main vehicle and the AGV slave vehicle have the ability of automatic path tracking. The lifting device lifts the main vehicle decoupling device and the slave vehicle decoupling device. The main vehicle decoupling device and the slave vehicle decoupling device carry the same part. There is a certain relative distance between the AGV main vehicle and the AGV slave vehicle. Through the decoupling ability of the main vehicle decoupling device and the slave vehicle decoupling device, it is ensured that the part is not affected by external forces and the safety of transportation is ensured.

Description

Technical Field

[0001] The present invention relates to a multi-directional decoupling device for dual-vehicle collaborative transportation, specifically a multi-directional decoupling device that uses two AGVs to collaboratively transport the same part. Technical Background

[0002] In industrial fields such as aviation, aerospace, power, and rail transit, the handling operations of large-mass and large-size workpieces are very common. The capacity of a single AGV is limited. For the transportation of large-mass or large-size workpieces, if a single vehicle is used for loading, it will increase the size of the single vehicle, increase the manufacturing cost, and is also not conducive to the standby space planning of the AGV. If dual-vehicle collaborative transportation is used, it can not only reduce the size of the single vehicle, lower the design difficulty, but also make the transportation method more flexible, improve work efficiency, and enhance economic efficiency. Dual-vehicle collaborative transportation is especially suitable for workpieces with a relatively large size in a single direction. For non-heavy-duty and large-size occasions, the two vehicles can also be used separately to improve the transportation flexibility and the utilization rate of the AGV.

[0003] If the product is transported by the direct-back method of two vehicles, due to factors such as road conditions, vehicle body size deviation, and vehicle motion control deviation during the soft linkage operation of the two vehicles, it will cause the asynchronous operation of the two vehicles. Therefore, internal forces will be generated on the workpiece (or bracket), and in severe cases, the workpiece (or bracket) will slip on the vehicle bearing surface, and even damage the part. Summary of the Invention

[0004] The purpose of the present invention is to overcome the insufficient transportation capacity of a single AGV, and propose a multi-directional decoupling device for dual-vehicle collaborative transportation. Through the decoupling capabilities of the master vehicle decoupling device and the slave vehicle decoupling device, a certain degree of synchronization deviation is allowed during the dual-vehicle linkage operation, ensuring that the transported workpiece is not affected by external forces, and thus ensuring the safety of the workpiece during the transportation process.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A multi-directional decoupling system for dual-vehicle collaborative transportation includes an AGV master vehicle, an AGV slave vehicle, a master vehicle decoupling device, a slave vehicle decoupling device, and a lifting device; a lifting device and a master vehicle decoupling device are arranged at the middle position on the top of the AGV master vehicle, and a lifting device and a slave vehicle decoupling device are arranged at the middle position on the top of the AGV slave vehicle;

[0007] The master vehicle decoupling device and the slave vehicle decoupling device have the same structure, and the two structural devices are installed in the vertical direction. The lifting device straddles the tops of the AGV master vehicle and the AGV slave vehicle and is used to lift the master vehicle decoupling device and the slave vehicle decoupling device.

[0008] Further, the AGV master vehicle and the AGV slave vehicle have the same structural composition and travel in the same direction.

[0009] Furthermore, the lifting device includes two mechanically synchronized screw lifts, a guide shaft, a shaft support, a guide shaft sleeve, a lifting platform, an upper bearing plate, and a lower bearing plate; the two screw lifts are installed on the lower bearing plate and connected by a transmission shaft; the guide shaft sleeve and the shaft support are installed on the upper bearing plate and the lifting platform respectively, the guide shaft is installed in the shaft support hole and passes through the guide shaft sleeve to form a guiding device, there is a spacing between the guide shaft and the lower bearing plate, and the guiding device is used to prevent the lifting platform from tipping over;

[0010] The lifting platform is located above the upper bearing plate and is used to carry the decoupling device.

[0011] Furthermore, the slave vehicle decoupling device includes a slewing bearing, a slewing bearing reset device, a first transfer platform, two one - word shaft supports, a second transfer platform, two linear slide rails, linear sliders, a linear slide rail reset device, a bearing platform, a positioning pin, a linear displacement sensor, and a platform horizontal reset device;

[0012] The slewing bearing is installed on the lifting platform, the first transfer platform is installed on the outer ring of the slewing bearing, and the one - word shaft supports are installed between the first transfer platform and the second transfer platform; the linear slide rails are symmetrically installed in pairs on the second transfer platform, the bearing platform is installed on the linear sliders, and the positioning pin is installed at the center of the bearing platform to prevent the load from slipping;

[0013] Linear displacement sensors are provided on the second transfer platform and the bearing platform for measuring the relative movement between the two vehicles; the slewing bearing reset device is installed between the lifting platform and the first transfer platform for restoring the initial position; the platform horizontal reset device is installed between the first transfer platform and the second transfer platform for restoring the initial horizontal position; the linear slide rail reset device is installed between the second transfer platform and the bearing platform for restoring the initial position.

[0014] The advantages of the master and slave vehicle decoupling devices provided in this application are that they can achieve omnidirectional decoupling of dual - vehicle linkage operation, have a large rated load of the device, a high degree of integration, and small space occupation under the same load, and are suitable for being arranged in the narrow space of an AGV vehicle body. Description of the Drawings

[0015] Figure 1 It is a schematic diagram of the overall structure of the multi - directional decoupling device for dual - vehicle collaborative transportation;

[0016] Figure 2 It is a schematic diagram of the structure of the slave vehicle decoupling device provided in the embodiment;

[0017] Figure 3 It is a schematic diagram of the structure of the master vehicle decoupling device provided in the embodiment. Detailed Embodiment

[0018] As shown Figures 1 to 3 in the figure, a multi-directional decoupling system for double-vehicle collaborative transportation provided in this embodiment includes an AGV main vehicle 1, an AGV slave vehicle 2, a main vehicle decoupling device 3, a slave vehicle decoupling device 4, and a lifting device 5. A lifting device and a main vehicle decoupling device 3 are arranged at the middle position on the top of the AGV main vehicle 1, and a lifting device and a slave vehicle decoupling device are arranged at the middle position on the top of the AGV slave vehicle 2;

[0019] The main vehicle decoupling device 3 and the slave vehicle decoupling device 4 have the same structure, and the two structural devices are installed in the vertical direction. The lifting device straddles the tops of the AGV main vehicle 1 and the AGV slave vehicle 2 and is used to lift the main vehicle decoupling device 3 and the slave vehicle decoupling device 4.

[0020] The AGV main vehicle and the AGV slave vehicle have the same structural composition and travel in the same direction. The main vehicle decoupling device and the slave vehicle decoupling device have the same structural composition. The slave vehicle decoupling device is rotated 90 degrees to be the main vehicle decoupling device.

[0021] The lifting device is used to lift the main vehicle linkage device and the slave vehicle linkage device. The lifting device includes two mechanically synchronized screw lifts, 4 guiding devices (composed of a guiding shaft, a shaft support, and a guiding shaft sleeve), a lifting platform, an upper bearing plate, and a lower bearing plate.

[0022] The AGV main vehicle 1 and the AGV slave vehicle 2 have the same structural composition and travel in the same direction.

[0023] As shown Figure 2 in the figure, the lifting device 5 includes two mechanically synchronized screw lifts 501, a guiding shaft 502, a shaft support 503, a guiding shaft sleeve 504, a lifting platform 505, an upper bearing plate 506, and a lower bearing plate 507. The two screw lifts 501 are installed on the lower bearing plate 507 and are connected by a transmission shaft. The guiding shaft sleeve 504 and the shaft support 503 are respectively installed on the upper bearing plate 506 and the lifting platform 505. The guiding shaft 502 is installed in the hole of the shaft support 503 and passes through the guiding shaft sleeve 504 to form a guiding device. There is a spacing between the guiding shaft 502 and the lower bearing plate 507. The guiding device is used to prevent the lifting platform from tipping over. The lifting platform 505 is located above the upper bearing plate 506 and is used to carry the decoupling device.

[0024] As shown Figure 2 in the figure, the slave vehicle decoupling device 4 includes a slewing bearing 401, a slewing bearing reset device 402, a first transfer platform 403, 2 one-word shaft supports 404, a second transfer platform 405, 2 linear slide rails 406, linear sliders 407, a linear slide rail reset device 408, a bearing platform 409, a positioning pin 410, a linear displacement sensor 411, and a platform horizontal reset device 412;

[0025] The slewing bearing 401 is installed on the lifting platform 505, the first adapter platform 403 is installed on the outer ring of the slewing bearing 401, and the one-piece shaft support 404 is installed between the first adapter platform 403 and the second adapter platform 405; the linear slide rails 406 are symmetrically installed in pairs on the second adapter platform 405, the bearing platform 409 is installed on the linear sliders 407, and the positioning pin 410 is installed at the center of the bearing platform 409 to prevent the load from slipping.

[0026] Linear displacement sensors 411 are provided on the second adapter platform 405 and the bearing platform 409 for measuring the relative movement between the two vehicles; the slewing bearing reset device 402 is installed between the lifting platform 505 and the first adapter platform 403 for restoring the initial position; the platform horizontal reset device 412 is installed between the first adapter platform 403 and the second adapter platform 405 for restoring the initial horizontal position; the linear slide rail reset device 408 is installed between the second adapter platform 405 and the bearing platform 409 for restoring the initial position.

[0027] The working principle of the present invention is as follows:

[0028] The present invention closes the loop and cooperatively controls the relative positions of the two vehicles through the decoupling devices of the master vehicle and the slave vehicle. Within the designed distance range of the two vehicles, it ensures that the product does not bear external forces and guarantees the safety of the product during the transfer process. When there are deviations in the angular position and the center distance between the two vehicles during the combined operation of the AGV master vehicle and the AGV slave vehicle, the slewing bearings on the master vehicle decoupling device and the slave vehicle decoupling device follow the rotation according to the angular deviation, and the angular displacement sensors arranged on the rotating shafts record and feedback the angular deviation data of the slave vehicle relative to the master vehicle in real time; at the same time, the linear sliders on the slave vehicle decoupling device expand and contract along the linear guide rails in real time according to the deviation of the center distance between the two vehicles, and the linear displacement sensors arranged on the second adapter platform record and feedback the center distance deviation data of the slave vehicle relative to the master vehicle in real time; the slave vehicle motion controller dynamically adjusts the running state of the slave vehicle in real time according to the angular and center distance deviation data fed back by the sensors to ensure that the position deviation of the slave vehicle relative to the master vehicle is within the set threshold. At the same time, through the automatic decoupling adjustment in the angular and linear directions of the master and slave vehicle decoupling devices, the workpiece (or bracket) can always be in a "floating" state, avoiding the workpiece from bearing internal forces. When the master and slave vehicles are running on an uneven road surface, the one-piece shafts arranged on the master and slave vehicle decoupling devices are used to realize the swing of the second adapter platform relative to the first adapter platform, also avoiding the workpiece from bearing internal forces and enabling the vehicle to have a high adaptability to the road surface during operation.

Claims

1. A multi-directional decoupling system for collaborative transportation of two vehicles, comprising an AGV main vehicle (1), an AGV slave vehicle (2), a main vehicle decoupling device (3), a slave vehicle decoupling device (4), and a lifting device (5); Characterized in that: A lifting device and a main vehicle decoupling device (3) are arranged at the middle position of the top of the AGV main vehicle (1), and a lifting device and a slave vehicle decoupling device are arranged at the middle position of the top of the AGV slave vehicle (2); The main vehicle decoupling device (3) and the slave vehicle decoupling device (4) have the same structure, and the two structural devices are installed in the vertical direction. The lifting device straddles the tops of the AGV main vehicle (1) and the AGV slave vehicle (2) and is used to lift the main vehicle decoupling device (3) and the slave vehicle decoupling device (4); The lifting device (5) comprises two mechanically synchronized screw lifts (501), a guide shaft (502), a shaft support (503), a guide shaft sleeve (504), a lifting platform (505), an upper bearing plate (506), and a lower bearing plate (507); The two screw lifts (501) are installed on the lower bearing plate (507) and are connected by a transmission shaft; The guide shaft sleeve (504) and the shaft support (503) are respectively installed on the upper bearing plate (506) and the lifting platform (505), the guide shaft (502) is installed in the hole of the shaft support (503) and passes through the guide shaft sleeve (504) to form a guiding device. There is a spacing between the guide shaft (502) and the lower bearing plate (507), and the guiding device is used to prevent the lifting platform from tipping over; The lifting platform (505) is located above the upper bearing plate (506) and is used to carry the decoupling device; The slave vehicle decoupling device (4) includes a slewing bearing (401), a slewing bearing reset device (402), a first transfer platform (403), two one - shaft supports (404), a second transfer platform (405), two linear slide rails (406), linear sliders (407), a linear slide rail reset device (408), a bearing platform (409), a positioning pin (410), a linear displacement sensor (411), and a platform horizontal reset device (412); The slewing bearing (401) is installed on the lifting platform (505), the first transfer platform (403) is installed on the outer ring of the slewing bearing (401), and the one - shaft supports (404) are installed between the first transfer platform (403) and the second transfer platform (405); The linear slide rails (406) are symmetrically installed in pairs on the second transfer platform (405), the bearing platform (409) is installed on the linear sliders (407), and the positioning pin (410) is installed at the center of the bearing platform (409) to prevent the load from slipping; A linear displacement sensor (411) is provided on the second transfer platform (405) and the bearing platform (409) for measuring the relative movement of the two vehicles; the slewing bearing reset device (402) is installed between the lifting platform (505) and the first transfer platform (403) for restoring the initial position; the platform horizontal reset device (412) is installed between the first transfer platform (403) and the second transfer platform (405) for restoring the initial horizontal position; the linear slide rail reset device (408) is installed between the second transfer platform (405) and the bearing platform (409) for restoring the initial position.

2. A multi-directional decoupling system for coordinated transfer of two vehicles according to claim 1, characterized in that: The AGV main vehicle (1) and the AGV slave vehicle (2) have the same structural composition and travel in the same direction.

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