A towing plate device of an AGV automatic guided vehicle with towing function

Abstract

The application discloses a towing plate device of an AGV automatic guiding vehicle with a towing function, which comprises a towing disc, a plurality of lifting cylinders are circumferentially distributed around the towing disc, the upper ends of the lifting cylinders are connected to a supporting plate, a plurality of slide rods are circumferentially distributed on the upper end of the towing disc, the slide rods are embedded in the towing disc and can slide along the radial direction of the towing disc, the upper surfaces of the slide rods are flush with the upper surface of the towing disc, and universal side supporting wheels are arranged at the ends of the slide rods. A trailer hook is arranged at the front end of the towing disc, and universal middle supporting wheels are further arranged at the bottom of the towing disc.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automated transportation technology, in particular to a towing plate device of an AGV automatic guided vehicle with towing function. BACKGROUND

[0002] An automatic guided vehicle (AGV) is an automated transportation device that controls the direction of movement through a computer program and sensors. They are commonly used in industrial production lines and warehouses for logistics transportation to improve transportation efficiency and reduce labor costs. However, existing AGV technology still has many problems and limitations. First, different sizes of goods require the use of different sizes of AGV vehicles, which leads to the need to manage and maintain many different types of vehicles, increasing costs and complexity, and making the utilization efficiency of AGV vehicles low. The support structure of existing AGV vehicles cannot be adjusted in real time according to the center of gravity of the goods, and when the center of gravity of the goods is not in the center, it will cause the vehicle to run unstable, and even may appear overturning and other dangers.

[0003] Therefore, it is necessary to provide a towing plate device of an AGV automatic guided vehicle with towing function to solve the problems raised in the background. SUMMARY

[0004] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a towing plate device of an AGV automatic guided vehicle with towing function, comprising a towing disc, a plurality of lifting cylinders are circumferentially distributed around the towing disc, the upper end of each lifting cylinder is connected to a support plate, a plurality of slide rods are circumferentially distributed on the upper end of the towing disc, the slide rods are slidably embedded in the towing disc along the radial direction of the towing disc, and the upper surface of the slide rods is flush with the upper surface of the towing disc, and a universal side support wheel is arranged at the end of each slide rod. A trailer hook is arranged at the front end of the towing disc, and a universal middle support wheel is further arranged at the bottom of the towing disc.

[0005] Further, as a preferred, a upper turntable is rotatably arranged at the upper end of the towing disc, a plurality of slide grooves are circumferentially arranged on the lower end surface of the upper turntable, the slide grooves extend in an arc shape away from the center of the upper turntable, a protruding guide column is fixed to the upper part of each slide rod near the center of the upper turntable, and each guide column is slidably embedded in the slide groove.

[0006] Further, as a preferred, a gear slot is arranged at the edge of the upper turntable, a first driving gear is rotatably arranged on the upper surface of the towing disc, the first driving gear is engaged with the gear slot of the upper turntable, and the first driving gear can be driven by a first motor fixed in the towing disc.

[0007] Further, as preferred, the bottom of the towing plate is rotatably provided with a lower rotating plate, the lower end of the lower rotating plate is symmetrically provided with two slide shafts along a diameter thereof, a sliding seat is slidably arranged in the slide shafts, and the middle supporting wheel is connected to the lower end of the sliding seat.

[0008] Further, as preferred, a gear slot is formed in the edge of the lower rotating plate, a second driving gear is rotatably arranged on the lower end surface of the towing plate, the second driving gear is engaged with the gear slot of the lower rotating plate, and the second driving gear can be driven by a second motor fixed in the towing plate.

[0009] Further, as preferred, a screw rod is rotatably arranged between the two slide shafts, and the screw rod is threadedly connected with the sliding seat.

[0010] Further, as preferred, a screw rod gear is fixed to one end of the screw rod, a side gear engaged with the screw rod gear is arranged below the lower rotating plate on one side of the screw rod gear, and the side gear can be driven by a third motor.

[0011] Further, as preferred, a pressure sensing device is arranged in each lifting cylinder

[0012] Compared with the prior art, the present application has the following beneficial effects:

[0013] The device can connect the AGV vehicle with the towing plate through the trailer hook, drag the goods for transportation to the corresponding position, and thus improve the transportation efficiency.

[0014] The first motor can drive the upper rotating plate to rotate, so as to automatically adjust the opening radius of the side supporting wheel according to the size of the goods, distribute the side supporting wheel at the edge of the goods, adapt to goods of different sizes, support and balance large goods, and ensure the passability of small goods.

[0015] The middle supporting wheel can support the middle part of the towing plate, so as to avoid damage caused by the overlong force arm when the slide rod is opened too wide.

[0016] The difference between each pressure sensing device can determine the direction and distance of the deviation of the center of gravity of the goods, so as to feedback control the second motor and the third motor, change the circumferential and radial positions of the lower rotating plate of the middle supporting wheel, make the middle supporting wheel at or as close as possible to the center of gravity of the goods, ensure that the middle supporting wheel can provide more effective support, and prevent the deviation of the center of gravity of the goods from causing the instability of the towing plate. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a structural schematic view of a towing plate device of an AGV automatic guided vehicle with towing function.

[0018] Figure 2 is a structural schematic view of the upper end surface of the drag plate;

[0019] Figure 3 is a structural schematic view of the lower end surface of the drag plate;

[0020] In the figure: 1, drag plate; 2, lifting cylinder; 3, support plate; 4, sliding rod; 5, side support wheel; 6, upper turntable; 61, sliding groove; 62, guide column; 7, first drive gear; 8, first motor; 9, lower turntable; 91, sliding shaft; 92, sliding seat; 93, screw rod; 94, screw rod gear; 95, side gear; 96, third motor; 10, middle support wheel; 11, second drive gear; 12, second motor; 13, trailer hook. DETAILED DESCRIPTION

[0021] Referring to Figure 1 In the embodiment of the present application, a drag plate device of an AGV automatic guided vehicle with a dragging function comprises a drag plate 1, a plurality of lifting cylinders 2 are distributed around the circumference of the drag plate 1, the upper end of each lifting cylinder 2 is connected to a support plate 3, a plurality of sliding rods 4 are distributed around the circumference of the upper end of the drag plate 1, the sliding rods 4 are embedded in the drag plate 1 and can slide radially along the drag plate 1, the upper surface of the sliding rod 4 is flush with the upper surface of the drag plate 1, and the end of each sliding rod 4 is provided with a universal side support wheel 5. The front end of the drag plate 1 is provided with a trailer hook 13, and the bottom of the drag plate 1 is also provided with a universal middle support wheel 10. The AGV vehicle can drive the drag plate 1 to move by connecting the drag plate 1 through the trailer hook 13, the support plate 3 can be lifted by the lifting cylinder 2, the support plate 3 can support the goods from below to make the goods off the ground, thereby dragging the goods to transport them to the corresponding position, the opening radius of the side support wheel 5 can be changed by sliding the sliding rod 4 to adapt to goods of different sizes, the balance of large goods can be supported and the passability of small goods can be ensured, and the middle part of the drag plate 1 can be supported by the middle support wheel 10 to avoid damage caused by the long force arm when the sliding rod 4 is opened too wide.

[0022] Referring to Figure 2 In the embodiment, the upper end of the drag plate 1 is rotatably provided with an upper turntable 6, a plurality of sliding grooves 61 are formed around the lower end surface of the upper turntable 6, the sliding grooves 61 extend in an arc shape away from the center of the upper turntable 6, the upper part of the end of each sliding rod 4 close to the center of the upper turntable 6 is fixed with a protruding guide column 62, and each guide column 62 is slidably embedded in the sliding groove 61. That is, by rotating the upper turntable 6, the position of the guide column 62 in the sliding groove 61 can be changed, thereby driving each sliding rod 4 to move towards or away from the center synchronously.

[0023] In this embodiment, the upper rotating disc 6 is provided with a tooth groove at its edge, the first driving gear 7 is rotatably arranged on the upper end surface of the trolley 1, the first driving gear 7 is engaged with the tooth groove of the upper rotating disc 6, and the first driving gear 7 is driven by the first motor 8 fixed in the trolley 1. The first motor 8 can drive the upper rotating disc 6 to rotate, so as to automatically adjust the opening radius of the side supporting wheel 5 according to the size of the goods, and the side supporting wheel 5 is distributed at the edge of the goods, so as to ensure the balance and passability of the goods.

[0024] Please refer to Figure 3 In this embodiment, the lower rotating disc 9 is rotatably arranged at the bottom of the trolley 1, two slide shafts 91 are symmetrically arranged at the lower end of the lower rotating disc 9 along a diameter thereof, a sliding seat 92 is slidably arranged in the slide shaft 91, and the middle supporting wheel 10 is connected to the lower end of the sliding seat 92.

[0025] In this embodiment, the lower rotating disc 9 is provided with a tooth groove at its edge, the second driving gear 11 is rotatably arranged on the lower end surface of the trolley 1, the second driving gear 11 is engaged with the tooth groove of the lower rotating disc 9, and the second driving gear 11 is driven by the second motor 12 fixed in the trolley 1. The second motor 12 can drive the lower rotating disc 9 to rotate, so as to change the circumferential position of the middle supporting wheel 10 in the lower rotating disc 9.

[0026] In this embodiment, the screw rod 93 is rotatably arranged between the two slide shafts 91, and the screw rod 93 is threadedly connected with the sliding seat 92.

[0027] In this embodiment, one end of the screw rod 93 is fixed with a screw rod gear 94, the lower rotating disc 9 on one side of the screw rod gear 94 is provided with a side gear 95 engaged with the screw rod gear 94, and the side gear 95 is driven by the third motor 96. The third motor 96 and the screw rod 93 can be arranged in parallel, that is, the third motor 96 can drive the position of the sliding seat 92 in the slide shaft 91, so as to change the radial position of the middle supporting wheel 10 in the lower rotating disc 9.

[0028] In this embodiment, each lifting cylinder 2 is provided with a pressure sensing device. Each lifting cylinder 2 is synchronously lifted to support the goods, when the center of the goods deviates from the center of the supporting plate 3, the pressure received by each pressure sensing device is different, the difference between each pressure sensing device can determine the direction and distance of the deviation of the center of gravity of the goods, so as to feedback control the second motor 12 and the third motor 96, change the circumferential and radial positions of the middle supporting wheel 10 in the lower rotating disc 9, and make the middle supporting wheel 10 at or as close as possible to the center of gravity of the goods, so as to ensure that the middle supporting wheel 10 can provide more effective support, and prevent the deviation of the center of gravity of the goods from causing the trolley 1 to be unstable.

[0029] In specific implementation,

[0030] Insert the trailer hook 13 into the AGV vehicle towing point, move the towing plate device to the bottom of the position where the goods need to be towed by the AGV vehicle;

[0031] Start the lifting cylinder 2, lift the support plate 3 from under the goods to support the goods and make it off the ground;

[0032] According to the size and shape of the goods, adjust the opening radius of the side support wheel 5 by controlling the first motor 8 to rotate the upper turntable 6, so that the side support wheel 5 is located at the edge of the goods and supports the goods, ensuring the balance and passability of the goods support;

[0033] According to the feedback information of each pressure sensing device, control the second motor 12 and the third motor 96 to change the circumferential and radial position of the lower turntable 9 under the middle support wheel 10, so that the middle support wheel 10 is at or as close as possible to the center of gravity of the goods, ensuring that the middle support wheel 10 can provide more effective support, preventing the center of gravity of the goods from deviating and causing the towing plate 1 to be unstable;

[0034] Start the AGV vehicle, after towing the goods from the current position to the destination, lower the lifting cylinder 2, lower the support plate 3, make the goods fall to the ground, and restore the towing plate device to the initial state.

[0035] The above is only the preferred embodiment of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical solution and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A towing plate device of an AGV automatic guided vehicle with towing function, comprising a towing plate (1), characterized in that, The plurality of lifting cylinders (2) are circumferentially distributed around the tray (1), the upper end of each lifting cylinder (2) is connected to a support plate (3), the plurality of slide rods (4) are circumferentially distributed at the upper end of the tray (1), the slide rods (4) are slidably embedded in the tray (1) along the radial direction of the tray (1) and are flush with the upper surface of the tray (1), the slide rods (4) are provided with universal side support wheels (5) at the ends thereof; The tray (1) is rotatably provided with a lower rotating disc (9) at the bottom thereof, two slide shafts (91) are symmetrically arranged at the lower end of the lower rotating disc (9) along a diameter thereof, a slide base (92) is slidably arranged in the slide shaft (91), and the middle support wheel (10) is connected to the slide base (92). The lower rotating disc (9) is provided with a tooth groove at the edge thereof, the tray (1) is rotatably provided with a second driving gear (11) at the lower end surface thereof, the second driving gear (11) is engaged with the tooth groove of the lower rotating disc (9), and the second driving gear (11) is servo-driven by a second motor (12) fixed in the tray (1). The two slide shafts (91) are rotatably provided with a screw rod (93) therebetween, and the screw rod (93) is threadedly connected with the slide base (92). One end of the screw rod (93) is fixedly provided with a screw rod gear (94), the lower rotating disc (9) below one side of the screw rod gear (94) is provided with a side gear (95) engaged with the screw rod gear (94), and the side gear (95) is driven by a third motor (96).

2. The AGV automatic guided vehicle's tow plate device with tow function according to claim 1, characterized in that, The tray (1) is rotatably provided with an upper rotating disc (6) at the upper end thereof, the lower end surface of the upper rotating disc (6) is circumferentially provided with a plurality of slide grooves (61) extending in an arc shape away from the center of the upper rotating disc (6), the upper part of each slide rod (4) close to the center of the upper rotating disc (6) is fixedly provided with a protruding guide column (62), and each guide column (62) is slidably embedded in the slide groove (61) in a one-to-one correspondence.

3. The AGV automatic guided vehicle's tow plate device with tow function according to claim 2, characterized in that, The upper rotating disc (6) is provided with a tooth groove at the edge thereof, the tray (1) is rotatably provided with a first driving gear (7) at the upper end surface thereof, the first driving gear (7) is engaged with the tooth groove of the upper rotating disc (6), and the first driving gear (7) is servo-driven by a first motor (8) fixed in the tray (1).

4. The AGV automatic guided vehicle's tow plate device with tow function according to claim 1, characterized in that, Each lifting cylinder (2) is provided with a pressure sensing device.

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