Automatic hooking and unhooking device and automatic hooking and unhooking method based on unmanned traction AMR

Abstract

The invention relates to an automatic hooking and unhooking device based on unmanned traction AMR and an automatic hooking and unhooking method, and belongs to the technical field of unmanned traction equipment. The frame assembly is connected with one side of the unmanned traction AMR and faces a cage trolley in the butt joint process, a driving assembly is installed in the frame assembly and used for driving a floating assembly to move in the vertical direction, and the bottom of the floating assembly is connected with a reset assembly; the floating assembly is in an upper limiting state when jacked up by the driving assembly, the floating assembly is higher than the top of the traction shaft in the upper limiting state, and a traction rod of the cage trolley moves to the position above the traction shaft through the upper surface of the floating assembly. When the driving assembly is folded, the floating assembly is pulled back to the lower limit through the reset assembly, the floating assembly is lower than the top of the traction shaft in the lower limit state, and the traction shaft penetrates through a traction hole of a cage trolley traction rod. According to the automatic hooking and unhooking device, automatic hooking and unhooking actions between the tractor and the cage workshop are achieved, and the problem that unmanned traction AMR needs manual cooperation at a goods taking and placing point position is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned traction equipment, and in particular to an automatic hooking and unhooking device based on an unmanned traction AMR and a working method thereof. Background Art

[0002] In the modern industrial production environment, the smooth operation of in-plant logistics is crucial to improving overall production efficiency, reducing operating costs and enhancing corporate competitiveness.

[0003] However, in the logistics methods under the existing technology, when it comes to the connection and separation of cage cars and tractors, there is still a significant problem of manual dependence. Specifically, whenever it is necessary to pick up goods from a warehouse or production line, the staff needs to go to the designated location in person, manually align the hook on the cage car with the traction device of the tractor and connect them firmly. This process is not only time-consuming and labor-intensive, but also easily affected by human factors, such as operational errors or lack of concentration leading to loose connections. As the goods are transported by the tractor to the designated delivery location, such as next to the production line or the next storage area, workers are required to intervene again to perform unlocking operations and carefully separate the cage car from the tractor to ensure that the goods are safely unloaded without damaging the equipment. This series of manual operations of hooking and unhooking not only greatly increases labor costs, making the labor intensity of enterprises high, but also limits the automation and intelligent development of logistics processes.

[0004] On this basis, it is urgent to develop an automatic hooking and unhooking device based on unmanned traction AMR and its working method. Summary of the invention

[0005] In response to the shortcomings in the above-mentioned existing production technology, the applicant provides an automatic hooking and unhooking device based on unmanned traction AMR and a working method thereof, thereby realizing automatic hooking and unhooking between the tractor and the cage workshop, solving the problem that the unmanned traction AMR requires manual cooperation at the picking and releasing points, and improving the environmental adaptability of the unmanned traction AMR to the application scenarios and the autonomy of picking and releasing goods.

[0006] The technical solution adopted by the present invention is as follows: an automatic hooking and unhooking device based on an unmanned traction AMR, comprising a frame assembly connected to one side of the unmanned traction AMR and facing a cage car during the docking process, a driving assembly installed in the frame assembly, the driving assembly is used to drive a floating assembly to move in a vertical direction, and is connected to a reset assembly at the bottom of the floating assembly; the floating assembly is in an upper limit state when lifted by the driving assembly, and in the upper limit state, the floating assembly is higher than the top of the traction shaft, and the traction rod of the cage car moves to the top of the traction shaft through the upper surface of the floating assembly; when the driving assembly is retracted, the floating assembly is pulled back to the lower limit by the reset assembly, and in the lower limit state, the floating assembly is lower than the top of the traction shaft, and the traction shaft passes through the traction hole of the traction rod of the cage car.

[0007] As a further improvement of the above technical solution:

[0008] Preferably, the structure of the frame assembly is: it includes a first connecting plate fixedly assembled with the unmanned towing AMR, symmetrically arranged side panels are provided on the connecting plate, and a top plate is provided on the top; the connecting plate, the side panels and the top plate are spliced ​​together to form a frame structure with an internal cavity.

[0009] Preferably, the structure of the side panel is: it includes a side panel body, on which a first guide groove and a second guide groove are respectively provided; the first guide groove is a first groove body arranged along the vertical direction; the second guide groove includes a second groove body arranged along the vertical direction and a third groove body arranged along the horizontal direction, and the second groove body and the third groove body form a "┎"-shaped groove as a whole.

[0010] Preferably, the structure of the driving assembly is as follows: it includes a motor mounting seat fixed to the bottom of the frame assembly, and the lifting driving assembly is installed on the motor mounting seat.

[0011] Preferably, the structure of the lifting drive assembly is: it includes a lifting motor fixing seat fixedly connected to the motor mounting seat, the lifting motor is assembled on the lifting motor fixing seat, and the top of the lifting motor is provided with a lifting output shaft which moves up and down in the vertical direction.

[0012] Preferably, the structure of the floating assembly is as follows: it includes a lifting block that moves in the vertical direction with the driving assembly; a top column is arranged on the side of the lifting block facing the driving assembly, and the top column is used to counteract the lifting output shaft of the lifting motor in the driving assembly; a lifting plate is arranged in the horizontal direction on the side of the lifting block away from the driving assembly, and a through hole for the traction shaft to pass through is arranged on the lifting plate, and when the lifting plate moves in the vertical direction with the lifting block, the traction shaft passes through the through hole; a slider is arranged on the upper surface of the lifting plate, and a compression spring is arranged on the side of the slider facing the lifting block, the compression spring is arranged horizontally, and one end of the compression spring is connected to the lifting block, and the other end is connected to the slider; a stop block is arranged on the side of the slider away from the lifting block, and the slider and the stop block slide along the length direction of the lifting plate under the thrust of the compression spring.

[0013] Preferably, a top cover is provided on the top of the slider and the stopper, and a limit column is provided on the top cover, and the limit column is used to block the movement direction of the slider; the lifting plate is also provided with an opening plate in the extension section away from the lifting block, and the opening plate is used to guide the traction rod of the cage car to contact the stopper during the docking process of the unmanned traction AMR and the cage car; a rolling bearing is arranged on the lifting block, and the rolling bearing is located in the first guide groove on the side plate of the frame assembly; a floating bearing is arranged on the side wall of the slider, and the floating bearing is located in the second guide groove on the side plate of the frame assembly.

[0014] Preferably, the structure of the reset assembly is as follows: it includes a second connecting plate fixedly connected to the bottom of the floating assembly, and a tension spring fixing shaft fixed at the bottom of the frame assembly, and a tension spring is arranged between the second connecting plate and the tension spring fixing shaft.

[0015] Preferably, an in-place detection component is also arranged in the vertical direction on one side of the floating component, and the structure of the in-place detection component is as follows: it includes a lower limit detector and an upper limit detector, and the lower limit detector and the upper limit detector are facing the direction of the lifting block in the floating component; and a cage car in-place detection camera is also fixed at the end of the top plate of the frame assembly.

[0016] An automatic hooking and unhooking method based on unmanned traction AMR, including an automatic hooking process and an automatic unhooking process;

[0017] The automatic hooking process includes the following steps:

[0018] Step 1: Issue an AMR traction task to the unmanned traction AMR;

[0019] Step 2: The unmanned towing AMR runs along the planned path until it reaches the docking point of the cage car, and adjusts the posture of the unmanned towing AMR to facilitate hooking;

[0020] Step 3: Identify the position of the drawbar of the cage car through the cage car in-place detection camera;

[0021] When the position of the cage truck's towing rod allows hooking, proceed to step 4;

[0022] When the position of the cage truck's towing rod does not allow hooking, return to step 2 to readjust the posture of the unmanned towing AMR until hooking is allowed;

[0023] Step 4: Perform the hooking action;

[0024] First, the lifting motor starts and pushes against the top column through the lifting output shaft to drive the lifting block to rise. During the process, the rolling bearing rises vertically along the first guide groove, and the floating bearing rises vertically in the second guide groove and reaches the inflection point of the second guide groove;

[0025] At the same time, the compression spring pushes the slider in the horizontal direction so that the floating bearing moves in the third slot of the second guide slot until it reaches the upper limit. At this time, the lifting plate is higher than the top of the traction shaft in the vertical direction, and the stopper is located above the traction shaft to prevent the lifting block from sliding down. The lifting motor is turned off, and the lifting output shaft is separated from the top column.

[0026] Next, the unmanned towing AMR approaches the cage car, so that the towing rod of the cage car passes through the upper surface of the opening plate and the lifting plate in turn and comes to the top of the towing shaft, and the towing rod of the cage car resists the block to overcome the compression spring; thereby the slider is retreated with the floating bearing to the node position where the second groove body of the second guide groove and the third groove body intersect, at which time the rolling bearing is located at the top of the first guide groove, and the floating bearing is located at the top of the second groove body, and the bottom of the floating body assembly slides down due to the tension spring in the reset assembly and its own gravity, and the towing shaft extends out through the through hole on the lifting plate and penetrates into the towing hole of the towing rod of the cage car, completing the hooking of the towing shaft and the towing rod of the cage car;

[0027] Step 5: The unmanned AMR drives the cage truck to the delivery point;

[0028] The automatic decoupling process includes the following steps:

[0029] Step 1: Issue an AMR decoupling task to the unmanned traction AMR;

[0030] Step 2: The unmanned towing AMR runs along the planned path, drives the cage truck to the cargo release point, and adjusts the posture of the unmanned towing AMR to facilitate uncoupling;

[0031] Step 3: Identify the position of the drawbar of the cage car through the cage car in-place detection camera;

[0032] When the position of the cage truck's towing rod allows unhooking, proceed to step 4;

[0033] When the position of the cage truck's towing rod does not allow unhooking, return to step 2 to readjust the posture of the unmanned towing AMR until unhooking is allowed;

[0034] Step 4: Perform the unhooking action;

[0035] First, the lifting motor starts and pushes against the top column through the lifting output shaft to drive the lifting block to rise. During the process, the rolling bearing rises vertically along the first guide groove, and the floating bearing rises vertically in the second guide groove and reaches the inflection point of the second guide groove. At this time, the lifting plate drives the traction rod of the cage car to rise synchronously, and the traction shaft passes through the traction hole and is located below the lifting plate;

[0036] Next, the unmanned AMR is pulled away from the cage car, so that the cage car's traction rod moves away from the upper surface of the lifting plate and the opening plate in turn. The slider moves horizontally along the direction of the third trough body by the elastic force of the compression spring until the block is located above the traction shaft. At this time, the cage car's traction rod is away from the floating assembly, and the traction shaft and the cage car's traction rod are unhooked;

[0037] Finally, the unmanned AMR drives away and heads to the next task point.

[0038] The beneficial effects of the present invention are as follows:

[0039] The invention has a compact structure, and realizes automatic hooking and unhooking between the unmanned AMR and the cage car through the automatic hooking and unhooking device, thereby solving the problem that the unmanned AMR needs manual cooperation at the cargo picking and releasing points, and improving the environmental adaptability of the unmanned AMR to the application scenarios and the autonomy of cargo picking and releasing; at the same time, the invention improves the automation, intelligence and information level of logistics in application scenarios such as workshops and factories;

[0040] The present invention also has the following advantages:

[0041] The driving component and the floating component of the present invention are of a separate structure. The driving component resists the top column of the floating component through the output end to lift the floating component, and then the driving component is closed. The floating component relies on the compression spring to push the slider along the third slot in the horizontal direction to ensure that the height is above the traction shaft; when the traction rod pushes the block and the slider in the floating component back to the second slot, the floating component is caused to slide down as a whole by the gravity of the floating component itself and the tension of the tension spring in the reset component, so that the traction shaft passes through the through hole on the lifting plate and penetrates into the traction rod to complete the hooking action. The entire hooking process uses the elastic force of the compression spring to push the slider to limit the height, and is reset by the tension of the tension spring of the reset component and the gravity of the floating component itself. The structure is reasonable, the movement process is stable and the cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the overall structure of the automatic hooking and unhooking device of the present invention.

[0043] Figure 2 for Figure 1 main view.

[0044] Figure 3 It is a schematic diagram of the side plate structure in the automatic hooking and unhooking device of the present invention.

[0045] Figure 4 for Figure 2 Schematic diagram of the internal structure (side panels are hidden).

[0046] Figure 5 It is a schematic diagram of the structure of the lifting motor in the automatic hooking and unhooking device of the present invention.

[0047] Figure 6 It is a schematic diagram of the structure of the floating assembly in the automatic hooking and unhooking device of the present invention.

[0048] Figure 7 It is a schematic diagram of the state of the automatic hooking and unhooking device when the floating assembly of the present invention is located at the lower limit position.

[0049] Figure 8 It is a schematic diagram of the state of the automatic hooking and unhooking device when the floating assembly of the present invention is located at the upper limit position.

[0050] Fig. 9 It is a flow chart of the automatic hooking method of the present invention.

[0051] Fig.10 It is a flow chart of the automatic uncoupling method of the present invention.

[0052] Fig.11 This is a schematic diagram of the unmanned traction AMR and the cage car of the present invention when they are not hooked.

[0053] Fig.12 This is a schematic diagram of the state of the unmanned traction AMR and the cage car of the present invention when they are hooked.

[0054] Among them: 1. Frame assembly; 2. Drive assembly; 3. Floating assembly; 4. Reset assembly; 5. Traction shaft; 6. In-place detection assembly; 7. Cage trolley in-place detection camera; 8. Unmanned traction AMR; 9. Cage trolley;

[0055] 11. First connecting plate; 12. Side plate; 13. Top plate;

[0056] 121. side plate body; 122. first guide groove; 123. second guide groove;

[0057] 21. Motor assembly seat; 22. Lifting drive assembly;

[0058] 221, lifting motor; 222, lifting output shaft; 223, lifting motor fixing seat;

[0059] 31. Lifting block; 32. Top column; 33. Rolling bearing; 34. Lifting plate; 35. Through hole; 36. Sliding block; 37. Compression spring; 38. Floating bearing; 39. Stopper; 310. Top cover; 311. Limiting column; 312. Opening plate;

[0060] 41. second connecting plate; 42. tension spring; 43. tension spring fixing shaft;

[0061] 61. Lower limit detector; 62. Upper limit detector. DETAILED DESCRIPTION

[0062] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0063] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0064] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0065] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0066] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0067] like Figures 1 to 8 As shown, the automatic hooking and unhooking device based on the unmanned traction AMR of this embodiment includes: a frame assembly 1 connected to one side of the unmanned traction AMR 8 and facing the cage car 9 during the docking process, a driving assembly 2 is installed in the frame assembly 1, the driving assembly 2 is used to drive the floating assembly 3 to move in the vertical direction, and is connected to the reset assembly 4 at the bottom of the floating assembly 3; the floating assembly 3 is in an upper limit state when it is lifted by the driving assembly 2, and the floating assembly 3 is higher than the top of the traction shaft 5 in the upper limit state, and the traction rod of the cage car 9 moves to the top of the traction shaft 5 through the upper surface of the floating assembly 3; when the driving assembly 2 is retracted, the floating assembly 3 is pulled back to the lower limit by the reset assembly 4, and the floating assembly 3 is lower than the top of the traction shaft 5 in the lower limit state, and the traction shaft 5 passes through the traction hole of the traction rod of the cage car 9.

[0068] In this embodiment, the structure of the frame assembly 1 is as follows: it includes a first connecting plate 11 fixedly assembled with the unmanned traction AMR 8, symmetrically arranged side plates 12 are provided on the connecting plate 11, and a top plate 13 is provided on the top; the connecting plate 11, the side plates 12 and the top plate 13 are spliced ​​together to form a frame structure with an internal cavity.

[0069] Furthermore, the structure of the side panel 12 is as follows: it includes a side panel body 121, on which a first guide groove 122 and a second guide groove 123 are respectively provided; the first guide groove 122 is a first groove body arranged along the vertical direction; the second guide groove 123 includes a second groove body arranged along the vertical direction and a third groove body arranged along the horizontal direction, and the second groove body and the third groove body form a "┎"-shaped groove as a whole.

[0070] In this embodiment, the structure of the driving assembly 2 is as follows: it includes a motor assembly seat 21 fixed to the bottom of the frame assembly 1, and a lifting driving assembly 22 is installed on the motor assembly seat 21;

[0071] Furthermore, the structure of the lifting drive assembly 22 is: it includes a lifting motor fixing seat 223 fixedly connected to the motor mounting seat 21, a lifting motor 221 is assembled on the lifting motor fixing seat 223, and the top of the lifting motor 221 is provided with a lifting output shaft 222 which moves up and down in the vertical direction.

[0072] In this embodiment, the structure of the floating assembly 3 is as follows: it includes a lifting block 31 that moves in the vertical direction with the driving assembly 2; a top column 32 is arranged on the side of the lifting block 31 facing the driving assembly 2, and the top column 32 is used to abut against the lifting output shaft 222 of the lifting motor 221 in the driving assembly 2; a lifting plate 34 is arranged in the horizontal direction on the side of the lifting block 31 away from the driving assembly 2, and a through hole 35 for the traction shaft 5 to pass through is arranged on the lifting plate 34, when the lifting plate 34 moves in the vertical direction with the lifting block 31, the traction shaft 5 passes through the through hole 35; a slider 36 is arranged on the upper surface of the lifting plate 34, and a compression spring 37 is arranged on the side of the slider 36 facing the lifting block 31, the compression spring 37 is arranged horizontally, and one end of the compression spring 37 is connected to the lifting block 31, and the other end is connected to the slider 36; a stopper 39 is arranged on the side of the slider 36 away from the lifting block 31, and the slider 36 and the stopper 39 slide along the length direction of the lifting plate 34 by the thrust of the compression spring 37;

[0073] Furthermore, a top cover 310 is provided on the top of the slider 36 and the stopper 39, and a limit column 311 is provided on the top cover 310, and the limit column 311 is used to block the movement direction of the slider 36; the lifting plate 34 is also provided with an opening plate 312 in the extension section away from the lifting block 31, and the opening plate 312 is used to guide the traction rod of the cage car 9 to contact the stopper 39 during the docking process of the unmanned traction AMR8 and the cage car 9; a rolling bearing 33 is arranged on the lifting block 31, and the rolling bearing 33 is located in the first guide groove 122 on the side plate 12 of the frame assembly 1; a floating bearing 38 is arranged on the side wall of the slider 36, and the floating bearing 38 is located in the second guide groove 123 on the side plate 12 of the frame assembly 1.

[0074] In this embodiment, the structure of the reset component 4 is: it includes a second connecting plate 41 fixedly connected to the bottom of the floating component 3, and a tension spring fixing shaft 43 fixed at the bottom of the frame component 1, and a tension spring 42 is arranged between the second connecting plate 41 and the tension spring fixing shaft 43.

[0075] In this embodiment, an in-place detection component 6 is also arranged in the vertical direction on one side of the floating component 3, and the structure of the in-place detection component 6 is as follows: it includes a lower limit detector 61 and an upper limit detector 62, and the lower limit detector 61 and the upper limit detector 62 are facing the direction of the lifting block 31 in the floating component 3; a cage car in-place detection camera 7 is also fixed at the end of the top plate 13 of the frame component 1.

[0076] like Figures 9 to 12 As shown, the automatic hooking and unhooking method based on the unmanned towing AMR of this embodiment includes an automatic hooking process and an automatic unhooking process;

[0077] The automatic hooking process includes the following steps:

[0078] Step 1: Issue an AMR traction task to the unmanned traction AMR8;

[0079] Step 2: The unmanned traction AMR8 runs along the planned path until it reaches the docking point of the cage car 9, and the posture of the unmanned traction AMR8 is adjusted to facilitate hooking;

[0080] Step 3: Identify the position of the traction rod of the cage car 9 through the cage car in-place detection camera 7;

[0081] When the position of the traction rod of the cage vehicle 9 allows hooking, proceed to step 4;

[0082] When the position of the traction rod of the cage car 9 does not allow hooking, return to step 2 to readjust the posture of the unmanned traction AMR 8 until hooking is allowed;

[0083] Step 4: Perform the hooking action;

[0084] First, the lifting motor 221 is started and the lifting output shaft 222 abuts against the top column 32 to drive the lifting block 31 to rise. During the process, the rolling bearing 33 rises vertically along the first guide groove 122, and the floating bearing 38 rises vertically in the second guide groove 123 and reaches the inflection point of the second guide groove 123.

[0085] At the same time, the compression spring 37 pushes the slider 36 in the horizontal direction so that the floating bearing 38 moves in the third groove body of the second guide groove 123 until it reaches the upper limit position. At this time, the lifting plate 34 is higher than the top of the traction shaft 5 in the vertical direction, and the stopper 39 is located above the traction shaft 5 to prevent the lifting block 31 from sliding down. The lifting motor 221 is turned off, and the lifting output shaft 222 is separated from the top column 32.

[0086] Next, the unmanned towing AMR8 approaches the cage car, so that the towing rod of the cage car 9 passes through the upper surface of the opening plate 312 and the lifting plate 34 in turn and comes to the top of the towing shaft 5, and the towing rod of the cage car 9 resists the block 39 to overcome the compression spring 37; thereby the slider 36 and the floating bearing 38 retreat to the node position where the second groove body and the third groove body of the second guide groove 123 intersect, at which time the rolling bearing 33 is located at the top of the first guide groove 122, and the floating bearing 38 is located at the top of the second groove body, and the bottom of the floating assembly 3 slides down due to the tension spring 42 in the reset assembly 4 and its own gravity, and the towing shaft 5 extends out through the through hole 35 on the lifting plate 34 and penetrates into the towing hole of the towing rod of the cage car 9, completing the hooking of the towing shaft 5 and the towing rod of the cage car 9;

[0087] Step 5: The unmanned AMR8 drives the cage car 9 to the delivery point;

[0088] The automatic decoupling process includes the following steps:

[0089] Step 1: Issue an AMR decoupling task to the unmanned traction AMR8;

[0090] Step 2: The unmanned traction AMR8 runs along the planned path, drives the cage car 9 to the cargo release point, and adjusts the posture of the unmanned traction AMR8 to facilitate uncoupling;

[0091] Step 3: Identify the position of the traction rod of the cage car 9 through the cage car in-place detection camera 7;

[0092] When the position of the traction rod of the cage car 9 allows unhooking, proceed to step 4;

[0093] When the position of the traction rod of the cage car 9 does not allow unhooking, return to step 2 to readjust the posture of the unmanned traction AMR 8 until unhooking is allowed;

[0094] Step 4: Perform the unhooking action;

[0095] First, the lifting motor 221 is started and the lifting output shaft 222 is pressed against the top column 32 to drive the lifting block 31 to rise. During the process, the rolling bearing 33 rises vertically along the first guide groove 122, and the floating bearing 38 rises vertically in the second guide groove 123 and reaches the inflection point of the second guide groove 123. At this time, the lifting plate 34 drives the traction rod of the cage car 9 to rise synchronously, and the traction shaft 5 passes through the traction hole and is located below the lifting plate 34.

[0096] Next, the unmanned AMR 8 is pulled away from the cage car, so that the traction rod of the cage car 9 is sequentially moved away from the upper surfaces of the lifting plate 34 and the opening plate 312, and the slider 36 is moved horizontally along the direction of the third groove body by the elastic force of the compression spring 37 until the stopper 39 is located above the traction shaft 5. At this time, the traction rod of the cage car 9 is away from the floating assembly 3, and the traction shaft 5 and the traction rod of the cage car 9 are unhooked;

[0097] Finally, the unmanned AMR8 drove away and headed to the next mission point.

[0098] The structure of the present invention is reasonable, and the automatic hooking and unhooking process is stable. The driving component 2 and the floating component 3 have a separate structure. The driving component 2 is against the top column 32 of the floating component 3 through the lifting output shaft 222. After the floating component 3 is lifted, the driving component 2 is closed, and the floating component 3 relies on the compression spring 37 to push the floating bearing 38 on the slider 36 along the third groove in the horizontal direction to ensure that the height is above the traction shaft 5; when the traction rod of the cage car 9 pushes the block 39 and the slider 36 in the floating component 3 back to the second groove, the floating component 3 is made to slide down as a whole by the gravity of the floating component 3 itself and the tension of the tension spring 42 in the reset component 4, so that the traction shaft 5 passes through the through hole 35 on the lifting plate 34 and penetrates into the traction rod to complete the hooking action. The entire hooking process is pushed by the elastic force of the compression spring 37 to limit the height of the slider 36, and resets by the tension of the tension spring 42 of the reset component 4 and the gravity of the floating component 3 itself. The structure is reasonable, the movement process is stable and the cost is low.

[0099] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0100] The above-mentioned embodiments only express the implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An automatic hooking and unhooking device based on unmanned traction AMR, characterized in that: include: A frame assembly (1) connected to one side of the unmanned traction AMR (8) and facing the cage vehicle (9) during the docking process, wherein a drive assembly (2) is installed in the frame assembly (1), and the drive assembly (2) is used to drive the floating assembly (3) to move in a vertical direction, and is connected to a reset assembly (4) at the bottom of the floating assembly (3); When the floating assembly (3) is lifted by the driving assembly (2), it is in an upper limit position state. In the upper limit position state, the floating assembly (3) is higher than the top of the traction shaft (5), and the traction rod of the cage car (9) passes through the upper surface of the floating assembly (3) and moves to the top of the traction shaft (5); When the driving assembly (2) is retracted, the floating assembly (3) is pulled back to the lower limit position by the resetting assembly (4). In the lower limit position state, the floating assembly (3) is lower than the top of the traction shaft (5), and the traction shaft (5) passes through the traction hole of the traction rod of the cage car (9).

2. The automatic hooking and unhooking device based on unmanned traction AMR according to claim 1, characterized in that: The structure of the frame assembly (1) is as follows: it comprises a first connecting plate (11) fixedly assembled with the unmanned traction AMR (8), symmetrically arranged side plates (12) are provided on the connecting plate (11), and a top plate (13) is provided on the top; The connecting plate (11), the side plate (12) and the top plate (13) are spliced ​​together to form an integrated frame structure with an internal cavity.

3. The automatic hooking and unhooking device based on unmanned traction AMR according to claim 2, characterized in that: The structure of the side plate (12) is as follows: it comprises a side plate body (121), and a first guide groove (122) and a second guide groove (123) are respectively provided on the side plate body (121); The first guide groove (122) is a first groove body arranged along the vertical direction; The second guide groove (123) comprises a second groove body arranged in the vertical direction and a third groove body arranged in the horizontal direction, and the second groove body and the third groove body integrally form a groove in the shape of "┎".

4. The automatic hooking and unhooking device based on unmanned traction AMR according to claim 1, characterized in that: The structure of the driving component (2) is as follows: it comprises a motor assembly seat (21) fixed at the bottom of the frame component (1), and a lifting driving component (22) is installed on the motor assembly seat (21).

5. The automatic hooking and unhooking device based on unmanned traction AMR according to claim 4 is characterized in that: The structure of the lifting drive assembly (22) is as follows: it comprises a lifting motor fixing seat (223) fixedly connected to the motor assembly seat (21); a lifting motor (221) is mounted on the lifting motor fixing seat (223); and a lifting output shaft (222) which is displaced up and down in a vertical direction is arranged on the top of the lifting motor (221).

6. The automatic hooking and unhooking device based on unmanned traction AMR according to claim 1, characterized in that: The structure of the floating assembly (3) is as follows: it comprises a lifting block (31) that moves in the vertical direction along with the driving assembly (2); A top column (32) is arranged on a side of the lifting block (31) facing the driving assembly (2), and the top column (32) is used to abut against a lifting output shaft (222) of a lifting motor (221) in the driving assembly (2); A lifting plate (34) is arranged in the horizontal direction on a side of the lifting block (31) away from the driving assembly (2), and a through hole (35) for the traction shaft (5) to pass through is arranged on the lifting plate (34). When the lifting plate (34) moves in the vertical direction along with the lifting block (31), the traction shaft (5) passes through the through hole (35); A slider (36) is arranged on the upper surface of the lifting plate (34), and a compression spring (37) is arranged on the side of the slider (36) facing the lifting block (31). The compression spring (37) is arranged horizontally, and one end of the compression spring (37) is connected to the lifting block (31), and the other end is connected to the slider (36); A stopper (39) is arranged on a side of the slider (36) away from the lifting block (31), and the slider (36) and the stopper (39) slide along the length direction of the lifting plate (34) under the thrust of the compression spring (37).

7. The automatic hooking and unhooking device based on unmanned traction AMR according to claim 6, characterized in that: A top cover (310) is arranged on the top of the slider (36) and the stopper (39), and a limiting column (311) is arranged on the top cover (310), and the limiting column (311) is used to block the movement direction of the slider (36); The lifting plate (34) is also provided with an opening plate (312) in an extension section away from the lifting block (31), and the opening plate (312) is used to guide the traction rod of the cage car (9) to contact the stopper (39) during the docking process of the unmanned traction AMR (8) and the cage car (9); A rolling bearing (33) is arranged on the lifting block (31), and the rolling bearing (33) is located in a first guide groove (122) on the side plate (12) of the frame assembly (1); A floating bearing (38) is arranged on the side wall of the slide block (36), and the floating bearing (38) is located in a second guide groove (123) on the side plate (12) of the frame assembly (1).

8. The automatic hooking and unhooking device based on unmanned traction AMR according to claim 1, characterized in that: The structure of the reset assembly (4) is as follows: it comprises a second connecting plate (41) fixedly connected to the bottom of the floating assembly (3), and a tension spring fixing shaft (43) fixed at the bottom of the frame assembly (1), and a tension spring (42) is arranged between the second connecting plate (41) and the tension spring fixing shaft (43).

9. The automatic hooking and unhooking device based on unmanned traction AMR according to claim 1, characterized in that: A position detection component (6) is also arranged in the vertical direction on one side of the floating component (3). The structure of the position detection component (6) is as follows: it comprises a lower limit detector (61) and an upper limit detector (62). The lower limit detector (61) and the upper limit detector (62) are directly facing the direction of the lifting block (31) in the floating component (3); A cage trolley in-place detection camera (7) is also fixed to the end of the top plate (13) of the frame assembly (1).

10. An automatic hooking and unhooking method based on unmanned traction AMR, characterized by: Using an automatic hooking and unhooking device based on an unmanned traction AMR as claimed in any one of claims 1 to 9 to cooperate with a cage car (9) to perform hooking and unhooking operations, including an automatic hooking process and an automatic unhooking process; The automatic hooking process includes the following steps: Step 1: issuing an AMR traction task to the unmanned traction AMR (8); Step 2: The unmanned traction AMR (8) runs along the planned path until it reaches the docking point of the cage car (9), and the posture of the unmanned traction AMR (8) is adjusted to facilitate hooking; Step 3: Identify the position of the traction rod of the cage car (9) by using the cage car in-position detection camera (7); When the position of the traction rod of the cage vehicle (9) allows hooking, proceed to step 4; When the position of the traction rod of the cage vehicle (9) does not allow hooking, return to step 2 to readjust the posture of the unmanned traction AMR (8) until hooking is allowed; Step 4: Perform the hooking action; First, the lifting motor (221) is started and the lifting output shaft (222) is pressed against the top column (32) to drive the lifting block (31) to rise. During the process, the rolling bearing (33) rises vertically along the first guide groove (122), and the floating bearing (38) rises vertically in the second guide groove (123) and reaches the inflection point of the second guide groove (123). At the same time, the compression spring (37) pushes the slider (36) in the horizontal direction so that the floating bearing (38) moves in the third groove body of the second guide groove (123) until it reaches the upper limit position. At this time, the lifting plate (34) is higher than the top of the traction shaft (5) in the vertical direction, and the stopper (39) is located above the traction shaft (5) to prevent the lifting block (31) from sliding down. The lifting motor (221) is turned off, and the lifting output shaft (222) is separated from the top column (32); Next, the unmanned towing AMR (8) approaches the cage car, so that the towing rod of the cage car (9) passes through the upper surface of the opening plate (312) and the lifting plate (34) in turn and comes to the top of the towing shaft (5), and the towing rod of the cage car (9) resists the block (39) to overcome the compression spring (37); thereby the slider (36) and the floating bearing (38) retreat to the node position where the second groove body and the third groove body of the second guide groove (123) intersect, at which time the rolling bearing (33) is located at the top of the first guide groove (122), and the floating bearing (38) is located at the top of the second groove body, and the bottom of the floating assembly (3) slides down under the influence of the tension spring (42) in the reset assembly (4) and its own gravity, and the towing shaft (5) extends out through the through hole (35) on the lifting plate (34) and penetrates into the towing hole of the towing rod of the cage car (9), completing the hooking of the towing shaft (5) and the towing rod of the cage car (9); Step 5: The unmanned AMR (8) drives the cage truck (9) to the delivery point; The automatic decoupling process includes the following steps: Step 1: issuing an AMR decoupling task to the unmanned traction AMR (8); Step 2: The unmanned traction AMR (8) runs along the planned path, drives the cage car (9) to the cargo release point, and adjusts the posture of the unmanned traction AMR (8) to facilitate uncoupling; Step 3: Identify the position of the traction rod of the cage car (9) by using the cage car in-position detection camera (7); When the position of the traction rod of the cage vehicle (9) allows unhooking, proceed to step 4; When the position of the traction rod of the cage car (9) does not allow uncoupling, return to step 2 to readjust the posture of the unmanned traction AMR (8) until uncoupling is allowed; Step 4: Perform the unhooking action; First, the lifting motor (221) is started and the lifting output shaft (222) is pressed against the top column (32) to drive the lifting block (31) to rise. During the process, the rolling bearing (33) rises vertically along the first guide groove (122), and the floating bearing (38) rises vertically in the second guide groove (123) and reaches the turning point of the second guide groove (123). At this time, the lifting plate (34) drives the traction rod of the cage car (9) to rise synchronously, and the traction shaft (5) passes through the traction hole and is located below the lifting plate (34); Next, the unmanned AMR (8) is pulled away from the cage car, so that the traction rod of the cage car (9) moves away from the upper surface of the lifting plate (34) and the opening plate (312) in turn, and the slider (36) moves horizontally along the direction of the third trough body by virtue of the elastic force of the compression spring (37) until the stopper (39) is located above the traction shaft (5). At this time, the traction rod of the cage car (9) moves away from the floating assembly (3), and the traction shaft (5) and the traction rod of the cage car (9) are unhooked; Finally, the unmanned towing AMR (8) drives away and heads to the next task point.

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