Single-sided clamping type automated guided vehicle and use method

Abstract

The application provides a single-side tire clamping type automatic guided vehicle and a use method, and relates to the technical field of carrying devices. The device comprises a vehicle body, a blocking frame and a guide piece. An end of the vehicle body is provided with a receiving part. One end of the receiving part is fixedly connected with the blocking frame, and the other end of the receiving part is rotationally connected with the guide piece. When the guide piece moves to one side of a tire, the tire can be scooped up by the guide piece and moved to the receiving part until it is stopped by the blocking frame.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of carrying device, in particular to a single-side tire clamping type automated guided vehicle and a use method thereof. BACKGROUND

[0002] At present, when carrying vehicles, a vehicle carrier is usually used, which comprises a tire clamping mechanism that clamps the tire from both sides. For example, patent No. CN209556483U discloses an automobile carrying tire clamping device, which records a tire clamping mechanism arranged at the front end of a fork, comprising a mounting seat, a fixed arm, a main clamping arm, a secondary clamping arm, and a clamping cylinder for driving the secondary clamping arm to rotate. The secondary clamping arm is rotatably arranged on the fixed arm, and the main clamping arm is rotatably arranged on the secondary clamping arm. A closing and opening assembly is arranged between the main clamping arm and the secondary clamping arm to drive the main clamping arm to open and close relative to the secondary clamping arm. The tire clamping mechanism has a first state in which the fixed arm, the main clamping arm and the secondary clamping arm form a "C" type opening for clamping the tire, and a second state in which the fixed arm, the main clamping arm and the secondary clamping arm are closed to each other. SUMMARY

[0003] The purpose of the present application is to provide a single-side tire clamping type automated guided vehicle and a use method, which cancels the aforementioned clamping arm device and simplifies the system structure.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0005] The single-side tire clamping type automated guided vehicle provided by the present application comprises a vehicle body, a blocking frame and a guide piece, wherein one end of the vehicle body is provided with a receiving part, one end of the receiving part is fixedly connected with the blocking frame, and the other end of the receiving part is rotatably connected with the guide piece.

[0006] When the guide piece moves to one side of the tire, the tire can be scooped up by the guide piece and moved onto the receiving part until it is stopped by the blocking frame.

[0007] Optionally, the guide piece comprises a roller set and a connecting plate, the roller set is rotatably connected with the connecting plate, and the connecting plate is rotatably connected with the receiving part through a rotating shaft.

[0008] Optionally, the number of the roller set is three.

[0009] Optionally, it further comprises a thrust mechanism and a scissor pushing mechanism, the vehicle body is connected with the thrust mechanism, the scissor pushing mechanism is located between two vehicle bodies, and the end of the scissor pushing mechanism is rotatably connected with the thrust mechanism.

[0010] Optionally, a sensor and a controller are further included, the sensor is installed on the blocking frame, the sensor is electrically connected with the controller, and the thrust mechanism is connected with the controller.

[0011] Optionally, the thrust mechanism comprises a guide rail, a screw rod, two sliding blocks and a driver, the guide rail is fixedly connected with one side of the vehicle body, the screw rod is rotationally connected with the guide rail, the screw rod is connected with the driver, the two sliding blocks are threadedly connected with the screw rod, and the screw rod is provided with two threads in opposite directions, and the sliding blocks are rotationally connected with the scissor pushing mechanism.

[0012] Optionally, two blocking frames and two guides are connected with one vehicle body.

[0013] Optionally, a rudder and a driven wheel are further included, the rudder is installed on the vehicle body, the number of the rudders on one vehicle body is two, and the driven wheel is installed on the side of the vehicle body.

[0014] The application provides a use method of the single-side clamping type AGV, which comprises the following operation steps:

[0015] Step A: start the rudder, move the vehicle body to the position directly below the vehicle, and stop the rotation of the rudder until the four guides are aligned with the four tires respectively;

[0016] Step B: the controller controls the movement of the thrust mechanism, so that the scissor pushing mechanism is elongated, and then the two vehicle bodies are pushed to move away from each other, and the guides are moved to the side close to the tires;

[0017] Step C: continue to push the vehicle body, the guides shovel up the tires and move them to the top of the receiving part;

[0018] Step D: when the four tires touch the sensors on the blocking frame, the vehicle is lifted, the sensors transmit the touch signal to the controller, and the controller controls the scissor pushing mechanism to stop pushing;

[0019] Step E: the controller starts the rudder again, and transports the vehicle body and the vehicle to the designated position.

[0020] Step F: the controller controls the scissor mechanism to retract, the vehicle is lowered to the ground, and after the scissor mechanism continues to retract to the shortest size, the rudder is started to leave the vehicle and prepare for a new working cycle.

[0021] The single-side tire clamping type automatic guided vehicle provided by the application only needs to align the free end of the guide member with one side of the tire in use, at this time, the guide member is inclined downward, then in the process of pushing the vehicle body by external force, the guide member will shovel up the tire until the tire is moved above the receiving part, the tire is lifted, the tire will press the other end of the guide member at the same time, so that the guide member is inclined upward, the blocking frame abuts against the tire, thereby the rolling direction of the tire can be limited, and the vehicle is convenient to carry. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only constitute some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0023] Figure 1 is a structural schematic diagram of the single-side tire clamping type automatic guided vehicle provided by the embodiment of the application;

[0024] Figure 2 is Figure 1 a partial view in

[0025] Figure 3 is a top view of the single-side tire clamping type automatic guided vehicle provided by the embodiment of the application;

[0026] Figure 4 is a partial structural schematic diagram of the single-side tire clamping type automatic guided vehicle provided by the embodiment of the application, which holds the tire;

[0027] Figure 5 is a partial structural schematic diagram of the single-side tire clamping type automatic guided vehicle provided by the embodiment of the application, which holds the tire;

[0028] Figure 6 is a schematic diagram of the single-side tire clamping type automatic guided vehicle provided by the embodiment of the application;

[0029] In the figure, 1 is a vehicle body; 11 is a receiving part; 2 is a blocking frame; 3 is a guide member; 31 is a roller set; 32 is a connecting plate; 4 is a tire; 5 is a pushing force mechanism; 6 is a scissor pushing mechanism; 7 is a sensor; 8 is a rudder; 9 is a driven wheel. DETAILED DESCRIPTION

[0030] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described below. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the scope of protection of the present application.

[0031] In the description of the present application, it should be noted that, unless otherwise specified, the meaning of "a plurality of" is two or more; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" and the like are only for the purpose of description and cannot be understood as indicating or implying relative importance.

[0032] In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0033] The present application provides a single-side tire clamping type automatic guided vehicle, comprising a vehicle body 1, a blocking frame 2 and a guide 3, wherein the end of the vehicle body 1 is provided with a receiving part 11, one end of the receiving part 11 is fixedly connected with the blocking frame 2, and the other end of the receiving part 11 is rotatably connected with the guide 3;

[0034] When the guide 3 moves to one side of the tire 4, the tire 4 can be scooped up by the guide 3 and moved onto the receiving part 11 until it is stopped by the blocking frame 2. The single-side tire clamping type automatic guided vehicle provided by the present application only needs to align the free end of the guide 3 with one side of the tire 4 when in use, at this time the guide 3 is inclined downward, then during the process of external force pushing the vehicle body 1, the guide 3 will scoop up the tire 4, until the tire 4 is moved onto the receiving part 11, the tire 4 is lifted, the tire 4 will press the other end of the guide 3 at the same time, so that the guide 3 is inclined upward, the blocking frame 2 abuts against the tire 4, thereby limiting the rolling direction of the tire 4, facilitating the handling of the vehicle.

[0035] As an optional implementation, the guide 3 comprises a roller set 31 and a connecting plate 32, the roller set 31 is rotationally connected with the connecting plate 32, the connecting plate 32 is rotationally connected with the receiving part 11 through a rotating shaft, the number of the roller set 31 is three sets, the connecting plate 32 is provided with an inclined section and a parallel section, two roller sets 31 are arranged on the inclined section, the outermost roller set 31 is used to be in contact with the surface of the tire 4 and roll, the inner roller set 31 is used to be in contact with the ground, facilitating the movement of the guide 3, the last roller set 31 is arranged on the parallel section, and the roller set 31 is used to be in contact with the surface of the tire 4, facilitating pressing, and the rotating shaft is arranged on the parallel section, forming a lever structure.

[0036] As an optional implementation, the push mechanism 5 and the scissor pushing mechanism 6 are further included, the number of the vehicle body 1 and the push mechanism 5 is two, the side surface of the vehicle body 1 is connected with the push mechanism 5, the push mechanism 5 is located on the same side of the vehicle body 1 as the blocking frame 2, and the scissor pushing mechanism 6 is located between the two vehicle bodies 1, and the end of the scissor pushing mechanism 6 is rotationally connected with the push mechanism 5.

[0037] As an optional implementation, the sensor 7 and the controller are further included, the sensor 7 is installed on the blocking frame 2, the sensor 7 is electrically connected with the controller, the push mechanism 5 is electrically connected with the controller, and the controller can control the start or stop of the driving device; when the tire 4 is pressed against the blocking frame 2, the sensor 7 is pressed at the same time, so that the sensor 7 senses a touch signal and transmits the touch signal to the controller.

[0038] As an optional implementation, the push mechanism 5 comprises a guide rail, a screw rod, a sliding block and a driver, the guide rail is fixedly connected with one side of the vehicle body 1, the screw rod is rotationally connected with the guide rail, the screw rod is connected with the driver, the controller can control the driver to start, the driver can drive the screw rod to rotate, the number of the sliding block is two, the two sliding blocks are threadedly connected with the screw rod, the screw rod is provided with two threads with opposite rotation directions, and the sliding block is rotationally connected with the scissor pushing mechanism 6. When the screw rod rotates, the two sliding blocks move in opposite directions, so that the scissor pushing mechanism 6 performs elongation or shortening movement.

[0039] As an optional implementation, one vehicle body 1 is connected with two blocking frames 2 and two guides 3, the two ends of the vehicle body 1 are provided with the receiving part 11, all the blocking frames 2 are located on the inner side of the two vehicle bodies 1, and all the guides 3 are located on the outer side of the two vehicle bodies 1.

[0040] As an optional implementation, the steering wheel 8 and the driven wheel 9 are further included, the steering wheel 8 is installed on the vehicle body 1, the number of the steering wheel 8 on one vehicle body 1 is two, and the driven wheel 9 is installed on the side surface of the vehicle body 1. The driver is arranged in the steering wheel 8, and the driver can move the steering wheel 8 when starting. The steering wheel 8 and the driven wheel 9 can move in any direction.

[0041] The application provides a single-side clamping type automatic guided vehicle and a use method thereof.

[0042] Step A: start the steering wheel 8, move the vehicle body 1 to the lower side of the vehicle, and stop the rotation of the steering wheel 8 until the four guide members 3 are respectively aligned with the four tires 4;

[0043] Step B: the controller controls the movement of the pushing mechanism 5, the scissor pushing mechanism 6 is extended, and then the two vehicle bodies 1 are pushed to move away from each other, and the guide members 3 are moved to the side close to the tires 4;

[0044] Step C: continue to push the vehicle body 1, the guide members 3 shovel up the tires 4 and move them to the receiving part 11;

[0045] Step D: when the four tires 4 touch the sensors on the blocking frame 2, the vehicle is lifted, the sensors transmit the touch signal to the controller, and the controller controls the scissor pushing mechanism 6 to stop pushing;

[0046] Step E: the controller starts the steering wheel 8 again, and transports the vehicle body 1 and the vehicle to the designated position;

[0047] Step F: the controller controls the scissor mechanism 6 to retract, the vehicle is lowered to the ground, and then the steering wheel 8 is started to leave the vehicle and prepare for a new working cycle.

[0048] Figure 6The figure is a principle diagram of a single-side tire clamping type automatic guided vehicle. The principle analysis is as follows: each tire is clamped and supported on a single side. O1 and O2 in the figure represent the front and rear axles of the four-wheel vehicle, and the wheel loads or axle loads are not equal, which are G1 and G2 respectively. C1, D1 and C2, D2 represent two contact points of the first tire clamping device and the second tire clamping device with the tire respectively. D is located at the lower part and mainly plays a role of supporting the weight of the vehicle, and C is located at the upper part and mainly plays a role of blocking the front and rear rolling of the tire. After the tire clamping device clamps the wheel and leaves the ground, due to the unequal axle loads of the front and rear wheels, the wheel O1 with the heavier load has a tendency to slide downward, and the wheel O2 with the lighter load has a tendency to slide upward. In the limit equilibrium state, the wheel O1 is out of contact with C1, and only D1 supports the wheel. The wheel O1 also receives a horizontal pulling force FH1 to the right. The resultant force F1 of the two forces G1 and FH1 is balanced with the supporting force of D1. For the wheel O2, it receives a counter force FH2 through the vehicle body to the wheel O2, which is equal in size and opposite in direction to FH1. FH2 and G2 form a resultant force F2. The conclusion is that if the resultant force F2 is located between the contact points D2 and C2 of the second tire clamping device and the wheel O2, then the wheel O2 will remain in equilibrium, and the vehicle will also remain stable. It is feasible for the two tire clamping devices to clamp the tire from two opposite directions, which will reduce half of the clamping arms, thereby greatly simplifying the structure and reducing the cost. In particular, when D1 and D2 move towards the center of the tire, FH1 and FH2 decrease more and more, and when D1 and D2 move directly below O1 and O2, FH1 and FH2 are zero, and the vehicle will no longer lose stability due to the different axle loads. At this time, only the lower tire blocking device C1, C2 is needed. At this time, only the blocking frame 2 in the present application needs to be set at a specified height to block the vehicle, so as to keep the vehicle stable.

[0049] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A single-sided clamp-on AGV, characterized in that, Including the car body (1), the blocking frame (2) and the guide (3), wherein, The end of the car body (1) is provided with a receiving part (11), one end of the receiving part (11) is fixedly connected with the blocking frame (2), and the other end of the receiving part (11) is rotatably connected with the guide (3); When the guide (3) moves to one side of the tire (4), the tire (4) can be scooped up by the guide (3) and moved onto the receiving part (11) until it is stopped by the blocking frame (2); It also includes a thrust mechanism (5) and a scissor pushing mechanism (6), the car body (1) is connected with the thrust mechanism (5), the scissor pushing mechanism (6) is located between the two car bodies (1), and the end of the scissor pushing mechanism (6) is rotatably connected with the thrust mechanism (5); It also includes a sensor (7) and a controller, the sensor (7) is installed on the blocking frame (2), the sensor (7) is electrically connected with the controller, and the thrust mechanism (5) is connected with the controller; The guide (3) includes a roller set (31) and a connecting plate (32), the roller set (31) is rotatably connected with the connecting plate (32), and the connecting plate (32) is rotatably connected with the receiving part (11) through a rotating shaft.

2. The single-sided clamp-on vehicle of claim 1, wherein, The number of the roller set (31) is three groups.

3. The single-clamp cart type automated guided vehicle according to claim 1, characterized by, The thrust mechanism (5) includes a guide rail, a screw rod, a sliding block and a driver, the guide rail is fixedly connected with one side of the car body (1), the screw rod is rotatably connected with the guide rail, the screw rod is connected with the driver, the number of the sliding block is two, both the sliding blocks are threadedly connected with the screw rod, two threads with opposite rotation directions are arranged on the screw rod, and the sliding block is rotatably connected with the scissor pushing mechanism (6).

4. The single-clamp cart type automated guided vehicle according to claim 1, characterized by, One car body (1) is connected with two blocking frames (2) and two guides (3).

5. The single-clamp cart type automated guided vehicle according to claim 1, characterized by, It also includes a rudder wheel (8) and a driven wheel (9), the rudder wheel (8) is installed on the car body (1), the number of the rudder wheel (8) on one car body (1) is two, and the driven wheel (9) is installed on the side surface of the car body (1).

6. A method of using the single-sided twin-tire AGV according to any one of claims 1 to 5, characterized in that, The following operation steps are included: Step A: start the rudder wheel (8), move the car body (1) to the directly below the vehicle, and stop the rotation of the rudder wheel (8) until the four guides (3) are respectively aligned with the four tires (4); Step B: the controller controls the movement of the thrust mechanism (5), pushes the scissor pushing mechanism (6) to elongate, and then pushes the two car bodies (1) to move away from each other, while the guides (3) move towards the side of the tires (4); Step C: continue to push the car body (1), the guide (3) will scoop up the tire (4) and move it onto the receiving part (11); Step D: when the four tires (4) touch the sensor on the blocking frame (2), the vehicle has been lifted, the sensor will send a touch signal to the controller, and the controller will control the scissor pushing mechanism (6) to stop pushing; Step E: The controller reactivates the steering wheels (8) to move the vehicle body (1) and vehicle to the designated location. Step F: The controller controls the scissors pushing mechanism (6) to retract, the vehicle lowers to the ground, and the scissors pushing mechanism (6) continues to retract to the shortest size, then the steering wheels (8) are activated to leave the vehicle and prepare for a new work cycle.

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