Yarn vehicle carrying AGV (Automatic Guided Vehicle)

Abstract

The invention relates to the field of carrying vehicles, and discloses a filament vehicle carrying AGV which comprises a vehicle body, a mounting base lifted at the front end of the vehicle body and a front fork assembly located on the mounting base, a pressing part is arranged on the mounting base and located above the front fork assembly in an overturning mode, and vertical overturning of the pressing part is controlled by a first driving motor; the abutting part and the front fork assembly form a limiting assembly capable of clamping or loosening the threading machine, the front fork assembly comprises a fork body, a supporting plate vertically ascending and descending on the upper end face of the fork body and air holes evenly distributed in the upper end face of the supporting plate, and an air cavity communicated with all the air holes is formed in the supporting plate. A sealing assembly capable of driving the air hole in sealing contact with the yarn vehicle to conduct air pressure switching along with movement is arranged in the air cavity in a sealed movement mode, lifting of the supporting plate and movement of the sealing assembly are synchronously controlled by a linkage driving assembly, and after the supporting plate ascends to abut against the bottom of the yarn vehicle, the air hole in sealing contact with the yarn vehicle is switched to be in a negative pressure state from a normal pressure state. The stability of the AGV wire carrying vehicle is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of transport vehicles, and in particular to an AGV for transporting a wire vehicle. Background Art

[0002] AGV (Automated Guided Vehicle) is the abbreviation of automatic guided vehicle. It is an unmanned transportation equipment with functions such as automatic navigation, handling, positioning, and obstacle avoidance. It often uses laser, vision, electromagnetic and other navigation methods. It can drive autonomously in complex environments and complete various transportation operations.

[0003] A Chinese patent with announcement number CN108545664B discloses an AGV unmanned transport vehicle, including a body, a control component, a front fork component, a load limit plate, an object feeding sensing mechanism, a lifting component and a distance detection sensor. The front fork component is arranged at the front end of the body, and the lifting component is arranged at the front end of the body and is connected to the front fork component and is used to drive the front fork assembly to move up and down.

[0004] The wire cart includes a metal frame and a universal wheel is arranged at the bottom. The wire cart itself has a large weight, and when it is filled with wire reels, the weight will increase significantly. Therefore, when using AGV to transport the wire cart, in order to significantly reduce energy consumption, the wire cart will not be suspended in the air after its front fork assembly is inserted into the bottom of the wire cart frame. The wire cart moves using its universal wheels, and the AGV only provides the power and direction guidance for its movement. If the above-mentioned AGV is used to transport the wire cart, the front fork assembly is only supported on the bottom of the wire cart frame. When the AGV accelerates, decelerates and turns sharply, the wire cart and the front fork assembly will be offset. Especially when turning sharply, the wire cart is easily tipped over, causing the goods on the wire cart to fall off. Therefore, there is room for improvement in the above-mentioned AGV. Summary of the invention

[0005] Aiming at the shortcoming of poor handling stability of existing AGVs for transporting wire carts, the present invention provides a wire cart transporting AGV with significantly improved stability during transport.

[0006] In order to solve the above technical problems, the present invention is solved by the following technical solutions: A wire-carrying AGV comprises a body, a mounting seat that is lifted and lowered at the front end of the body, and a front fork assembly located on the mounting seat, a pressing component is flipped and arranged above the front fork assembly on the mounting seat, the up and down flipping of the pressing component is controlled by a first driving motor, the pressing component and the front fork assembly form a limit assembly that can clamp or release the wire car, the front fork assembly comprises a fork body fixed at one end on the mounting seat, a support plate that is vertically lifted and lowered at the upper end surface of the fork body, and air holes uniformly distributed on the upper end surface of the support plate, an air cavity connected to all the air holes is arranged in the support plate, and a sealed moving part in the air cavity can be driven to move with the wire car The sealing assembly switches the air pressure of the air holes in sealing contact, and the lifting and lowering of the support plate and the movement of the sealing assembly are synchronously controlled by a linkage drive assembly. The linkage drive assembly includes a moving assembly that is horizontally guided and moved in the fork body, a hinge shaft located on both sides of the moving assembly at the end away from the mounting seat, and two lifting arms with one end hinged to a hinge shaft and the other end hinged to the bottom of the fork body and the lower end of the support plate respectively. All the moving assemblies move synchronously and are synchronously controlled by a winding mechanism. When the support plate rises to abut against the bottom of the wire cart, the air holes in sealing contact with the wire cart switch from normal pressure to negative pressure.

[0007] By adopting the above scheme, a pressure component is added to the existing handling AGV. After the pressure component is flipped, it forms a clamping force together with the front fork assembly from the upper and lower directions to limit the base of the wire cart. During the travel of the AGV, whether the AGV accelerates, decelerates or turns sharply, the wire cart and the AGV can keep moving synchronously. In addition, the forklift assembly is improved, and the original integrated fork body is improved into a fork body and a support plate that can be raised and lowered on the fork body. This improvement is also based on the fact that the wire cart itself has universal wheels, and the fork body does not need to bear the weight of the wire cart completely, but only needs to limit the displacement of the wire cart relative to the fork body. The reason why the support plate is set to be lifted is to be able to adjust the matching distance between the support plate and the pressure component to ensure that after the pressure component is flipped and pressed down, the support plate The support plate can support the bottom of the wire cart to form a two-way clamp, and air holes are arranged on the upper end of the support plate. Since the wire cart is basically a frame body, the part in contact with the support plate will change due to changes in the frame structure and size of the wire cart. Therefore, the design that the air holes can independently control the change of air pressure is very critical; in addition, the lifting of the support plate and the change of air pressure in the air holes are linked, which can simplify the control of this part. The linkage is generated in the following order: the support plate is first lifted to abut against the bottom of the wire cart to ensure that the air holes in contact with the bottom of the wire cart form a seal with the wire cart. Subsequently, this part of the air holes will switch from normal pressure to negative pressure, so that the wire cart is simultaneously subjected to multiple effects such as downward pressure from the pressing component, upward support from the support plate and adsorption of the support plate, thereby significantly increasing the stability of the AGV in transporting the wire cart.

[0008] Preferably, the moving component includes a tube body guided for translation along the length direction of the fork body and a piston rod sealed and moved in the tube body. The side wall of the piston head of the piston rod is provided with a non-return structure which drives the piston head and the tube body to be locked under normal conditions and drives the piston head and the tube body to be unlocked after the piston rod is subjected to a tensile force exceeding a preset force. An air supply hose is connected to the rodless cavity and the air cavity of the tube body at one end away from the air hole.

[0009] With the above scheme, when the winding mechanism reels, it first moves the tube body and the piston rod together. At this time, the piston head and the tube body are in a locked state. When the support plate is lifted up with the movement of the tube body until it abuts against the bottom of the wire cart and can no longer be lifted, the action force between the piston head and the tube body continues to increase until the piston head and the tube body are unlocked. Thereafter, the tube body remains stationary but the piston head is in a displacement state, driving the tube body to be in a vacuum state, so that the gas in the air cavity enters the tube body from the air hose. As the negative pressure below the air cavity increases, the sealing assembly descends, causing the negative pressure of the air hole in sealed contact with the bottom of the wire cart to continue to increase, and the support plate presses and adsorbs on the bottom of the wire cart, thereby increasing the total limiting force of the AGV on the wire cart.

[0010] Preferably, the anti-return structure includes symmetrically recessed receiving grooves on both sides of the piston head, a anti-return block telescopically extended in the receiving groove, and a first limiting groove arranged on the inner wall of one end of the tube body close to the hinge axis, a pressure spring is arranged in the receiving groove for driving the anti-return block to partially extend and then engage with the first limiting groove, and an exit inclined surface is arranged at one end of the rod body of the anti-return block close to the piston rod for sliding out of the first limiting groove when the anti-return block is subjected to a force exceeding a preset force.

[0011] By adopting the above scheme, the check block of the piston head is driven by the pressure spring to partially extend and engage with the first limit groove under normal conditions, thereby realizing the locking between the piston head and the tube body. When the tube body is restricted and cannot move, the pulling force applied to the piston rod is directly converted into the relative force between the piston head and the tube body, so that the check block overcomes the elastic force of the pressure spring and contracts under the action of the lead-out inclined surface, and then disengages from the first limit groove, thereby realizing the unlocking of the piston head and the tube body.

[0012] Preferably, a first return spring is arranged between the bottom of the air cavity and the sealing assembly and / or between the piston head and an end of the tube body away from the hinge axis.

[0013] With the above solution, when the piston rod loses its pulling force, the first return spring is used to achieve the retraction and return of the piston rod. The first return spring can be arranged in the air cavity or on the piston rod, or in both parts at the same time.

[0014] Preferably, one end of the fork body close to the mounting seat is synchronously connected to an assembly seat fixed on the mounting seat, and the winding mechanism includes a winding disk rotating in the assembly seat, a second drive motor driving the winding disk to rotate, and a pull rope fixed to the winding disk at one end and the piston rod at the other end, and a labor-saving pulley group is provided between the pull rope and the assembly seat for saving power of the second drive motor and realizing pull rope reversal.

[0015] By adopting the above scheme, the winding drum is driven by the second drive motor to reel in. By means of the labor-saving pulley set, the power demand for the second drive motor can be significantly reduced. As the pull rope is reeled in, the moving component is driven to move; after the winding drum is reversed, the support plate will drop due to the influence of gravity, automatically driving the pull rope to be released.

[0016] Preferably, a locking assembly is provided between the articulated shaft and the lifting arm to drive the two to rotate relative to each other or to lock each other. The locking assembly includes a socket provided on the lifting arm for inserting the articulated shaft, a second limit groove circumferentially spaced apart on the inner ring wall of the socket, and a limit tooth elastically and retractably provided on the outer wall of the articulated shaft and capable of being detached from or inserted into the second limit groove. The limit tooth is in a retracted state under normal circumstances and can be partially extended and engaged with the second limit groove after the piston rod extends a preset stroke toward the mounting seat.

[0017] By adopting the above scheme, the locking assembly is synchronously controlled by the relative displacement between the piston rod and the tube body, and there is no need to set up a separate driving structure. When the piston rod extends outward relative to the tube body, not only can the air hole in sealing contact with the bottom of the wire machine switch from normal pressure to negative pressure, but the limit tooth can also be transformed from a contracted state to a partially extended state and be inserted into the second limit groove on the lifting arm to limit the lifting arm, thereby limiting the lifting arm and allowing the support plate to have a limited descent ability after rising.

[0018] Preferably, an assembly rod is protruded from the end of the tube body away from the mounting seat, and a hinge shaft is protruded from the side walls on both sides of the end of the assembly rod away from the tube body. An assembly cavity is provided in the end of the assembly rod away from the tube body, and a driving member is sealed and moved in the assembly cavity. The limit gear is synchronously connected with the end of the driving member away from the tube body, and a driving spring is provided in the assembly cavity to drive the driving member to move toward the end away from the tube body. An air path connected to the rodless cavity of the tube body is provided at the end of the assembly cavity close to the tube body.

[0019] By adopting the above scheme, when the piston head extends outward relative to the tube body, the negative pressure formed causes the driving member to overcome the elastic force of the driving spring and move toward the tube body, thereby causing the limit tooth to move in the same direction, that is, to extend, so that the limit tooth engages with the second limit groove, thereby locking the lifting arm and the hinge shaft.

[0020] Preferably, a locking mechanism is provided between the support plate and the mounting seat and / or the support plate and the fork body for limiting the movement of the support plate relative to the fork body when the support plate rises to abut against the bottom of the wire machine. The locking mechanism includes a guide rod vertically arranged on the bottom surface of the mounting seat and / or the support plate, a guide groove arranged on the support plate and / or the fork body and cooperating with the corresponding guide rod, and an engaging tooth horizontally and telescopically arranged at the bottom of the guide groove. A rack for engagement with the engaging tooth is vertically arranged on one side of the guide rod close to the engaging tooth, and the extension and retraction of the engaging tooth is controlled by an electromagnetic control component.

[0021] By adopting the above solution, the locking mechanism can further increase the limiting capacity of the support plate after movement.

[0022] Preferably, the electromagnetic control component includes an electromagnet and a second return spring connected between the engaging tooth and the electromagnet to drive the engaging tooth to a retracted state. The electromagnet and the second return spring are accommodated in a groove at the bottom of the guide groove. A telescopic part is guided and moved in the groove. The upper end of the telescopic part facing the rack is provided with an engaging tooth and the lower end is embedded with an iron block, which abuts against the second return spring. The electromagnet is installed on the side of the second return spring close to the rack. The extension and retraction of the telescopic part is controlled by the energization or de-energization of the electromagnet. The energization or de-energization of the electromagnet is controlled by a control circuit. The control circuit includes an electromagnet and a control switch arranged in series. The control switch is a momentary switch and is installed at one end of the tube body close to the mounting seat. When the piston head moves to contact the control switch, the electromagnet is energized, and the engaging tooth partially extends out of the groove and engages with the rack; when the piston head leaves the control switch, the electromagnet is de-energized, the engaging tooth retracts and disengages from the rack.

[0023] By adopting the above scheme, in the electromagnetic control component, the power-on or power-off of the electromagnet is synchronously controlled by the movement of the piston head, and the electromagnet can only be energized when the piston head moves to contact the control switch, causing the engaging teeth to partially extend and engage with the rack, thereby increasing the limiting capacity of the support plate.

[0024] Preferably, the pressing component includes a pressure wheel, which is fixed to the upper end of a pressure arm bent toward the front fork assembly, and the lower end of the pressure arm is fixed to a rotating shaft, both ends of the rotating shaft are rotatably connected to the mounting seat and are horizontally arranged above the front fork assembly, and the first drive motor is installed at one end of the mounting seat and is electrically connected to the rotating shaft.

[0025] By adopting the above scheme, in the pressing component, the pressure arm is used in combination with the pressure wheel. If the pressing component presses a flat member, the pressing component, after being combined with the front fork assembly, also has the performance of limiting the up and down and horizontal deviation of the wire cart; if the pressing component presses a rod-shaped member, while having the performance of limiting the up and down and horizontal deviation of the wire cart, further increases the ability to limit the horizontal deviation and horizontal deflection of the wire cart.

[0026] The present invention has significant technical effects due to the adoption of the above technical scheme: a pressure component is added to the existing transport AGV, and after the pressure component is flipped, it forms a clamping force together with the front fork assembly from the upper and lower directions to limit the base of the wire cart. During the travel of the AGV, no matter the AGV accelerates, decelerates or turns sharply, the wire cart and the AGV can keep moving synchronously. In addition, the forklift assembly is improved, and the original integrated fork body is improved into a fork body and a support plate that can be raised and lowered on the fork body. This improvement is also based on the fact that the wire cart itself has universal wheels, and the fork body does not need to bear the weight of the wire cart completely, and it only needs to limit the displacement of the wire cart relative to the fork body. The reason why the support plate is set to be raised and lowered is to be able to adjust the matching distance between the support plate and the pressure component to ensure the pressure After the component is flipped and pressed down, the support plate can support the bottom of the wire cart to form a two-way clamp, and air holes are set at the upper end of the support plate. Since the wire cart is basically a frame body, the part in contact with the support plate will change due to changes in the frame structure and size of the wire cart. Therefore, the design that the air holes can independently control the change of air pressure is very critical; in addition, the lifting of the support plate and the change of air pressure in the air holes are linked, which can simplify the control of this part. The linkage is generated in the following order: the support plate is first lifted to abut against the bottom of the wire cart to ensure that the air holes in contact with the bottom of the wire cart form a seal with the wire cart. Subsequently, this part of the air holes will switch from normal pressure to negative pressure, so that the wire cart is simultaneously subjected to multiple effects such as downward pressure from the pressing component, upward support from the support plate and adsorption of the support plate, thereby significantly increasing the stability of the AGV in transporting the wire cart. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is an axonometric view of a wire car handling AGV of this embodiment when the wire car is being handled; Figure 2 is an axonometric view of a wire car handling AGV of this embodiment; Figure 3 is a front view of the mounting base equipped with the pressing component and the front fork assembly in this embodiment; Figure 4 yes Figure 3 AA cross-sectional view; Figure 5 yes Figure 4 A magnified image of A; Figure 6 yes Figure 4 A magnified view of B; Figure 7 yes Figure 4 A cross-sectional view of BB; Figure 8 yes Figure 4 A cross-sectional view of CC; Fig. 9 is an axonometric view of the mobile assembly of this embodiment.

[0028] The parts indicated by the numbers in the above drawings are as follows: 1. body; 2. mounting seat; 3. rotating shaft; 4. pressure arm; 5. pressure wheel; 6. first driving motor; 7. fork body; 701. assembly groove; 702. guide slide groove; 8. pressure sensor assembly; 9. support plate; 901. rib; 902. air hole; 903. air cavity; 904. sealing assembly; 9041. piston member; 9042. piston block; 10. guide rod; 11. rack; 12. mounting seat; 13. winding disk; 14. movable pulley block; 15. fixed pulley block; 16. pull rope; 17. tube body; 171. Guide slider; 172. Storage slot; 173. First limit slot; 18. Assembly rod; 181. Assembly chamber; 19. Lifting arm; 20. Articulated shaft; 21. Second limit slot; 22. Piston rod; 221. Piston head; 23. First return spring; 24. Engaging teeth; 25. Telescopic member; 26. Iron block; 27. Electromagnet; 28. Second return spring; 29. ​​Control switch; 30. Gas hose; 31. Limit teeth; 32. Driving member; 33. Driving spring; 34. Gas path; 35. Check block; 351. Lead-out ramp; 36. Compression spring. DETAILED DESCRIPTION

[0029] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0030] A wire car handling AGV, refer to Figure 1~Figure 2 As shown, it includes a body 1, a mounting base 2 which is vertically lifted at the front end of the body 1, and a front fork assembly which is installed at the front end of the mounting base 2 and is lifted and lowered synchronously with the mounting base 2. The AGV has existing functions such as universal movement, automatic navigation, transportation, positioning and obstacle avoidance. This solution only improves the transportation function and does not improve the other structures. The unimproved structures use existing technologies and will not be described here.

[0031] A pressing component is provided on the mounting seat 2 above the front fork assembly. Figure 3~Figure 4 As shown, mounting plates are vertically arranged on both sides of the mounting seat 2, and the pressing component includes two groups of parallel distributed pressure wheels 5, the pressure wheels 5 are made of polyurethane pressure wheels 5, each pressure wheel 5 is fixed to the upper end of a pressure arm 4 bent toward the fork assembly, and the lower end of the pressure arm 4 is fixed on a rotating shaft 3, and the two ends of the rotating shaft 3 are rotatably connected to the two mounting plates, and a first driving motor 6 for driving the rotating shaft 3 to rotate is fixedly installed on the mounting plate.

[0032] The above-mentioned pressure arm 4 is bent into a lock hook shape and is applied to the rod-shaped member (the rod-shaped steel material that constitutes the base and side enclosure of the wire machine). It can first hook the rod-shaped member to limit the large-scale movement of the rod-shaped member along the hooking direction, and then use the pressure wheel 5 to elastically press the rod-shaped member to limit the translational movement of the rod-shaped member.

[0033] The above-mentioned pressing component is combined with the front fork assembly to form a limit assembly that can clamp or release the wire machine. In order to further increase the adaptability and the strength of the limit, the front fork assembly is further improved. Figure 4~Figure 9 As shown, the improved structure is as follows: The front fork assembly includes two fork bodies 7 fixed on the mounting seat 2 at one end, a support plate 9 vertically raised and lowered on the upper end surface of the fork body 7, and air holes 902 evenly distributed on the upper end surface of the support plate 9, an air cavity 903 connected to all the air holes 902 is provided in the support plate 9, and a sealing component 904 is sealed and moved in the air cavity 903, which can drive the air holes 902 in sealing contact with the wire machine to switch the air pressure as it moves, and the sealing component 904 includes a piston block 9042 that vertically moves in the air cavity 903 and a piston member 9041 that moves in each air hole 902, and the bottoms of all the piston members 9041 are fixedly connected to the piston block 9042, and the lifting and lowering of the support plate 9 and the movement of the sealing component 904 are synchronously controlled by a linkage driving component.

[0034] The linkage drive assembly includes a moving assembly that is horizontally guided and moved in the fork body 7, a hinge shaft 20 located on both sides of the moving assembly at one end away from the mounting seat 2, and two lifting arms 19, one end of which is hinged to a hinge shaft 20 and the other end of which is respectively hinged to the bottom of the fork body 7 and the lower end of the support plate 9. All the moving components move synchronously and are synchronously controlled by a winding mechanism. When the support plate 9 rises to abut against the bottom of the wire cart, the air hole 902 in sealed contact with the wire cart switches from normal pressure to a negative pressure state.

[0035] An assembly groove 701 is recessed at the upper end of the front fork assembly, and guide grooves 702 are recessed on the inner walls on both sides of the assembly groove 701 along the length direction of the fork body 7. The moving assembly includes a tube body 17 that is guided and translated along the length direction of the fork body 7 and a piston rod 22 that moves in a sealed manner in the tube body 17. Guide sliders 171 that are guided and matched with the guide grooves 702 are convexly provided on the outer walls on both sides of the tube body 17. The side wall of the piston head 221 of the piston rod 22 is provided with a non-return structure that drives the piston head 221 to lock with the tube body 17 under normal circumstances and drives the piston head 221 to unlock with the tube body 17 after the piston rod 22 is subjected to a tensile force exceeding a preset value. An air hose 30 is connected to the end of the rodless cavity of the tube body 17 and the air cavity 903 away from the air hole 902. The air hose 30 is always in a relaxed state within the travel range of the tube body 17, and a storage groove 172 is recessed at the upper end of the tube body 17 for the air hose 30 to deform and be accommodated therein.

[0036] One end of the fork body 7 close to the mounting seat 2 is synchronously connected to an assembly seat 12 fixed on the mounting seat 2, and the interior of the assembly seat 12 is connected to the assembly grooves 701 of the two fork bodies 7. The winding mechanism includes a winding disk 13 rotating in the middle of the assembly seat 12, a second drive motor installed on the assembly seat 12 and driving the winding disk 13 to rotate, and a pull rope 16 fixed to the winding disk 13 at one end and to the rod end of the piston rod 22 at the other end. The pull rope 16 adopts a steel wire rope that is not easy to break. A labor-saving pulley group is provided between the pull rope 16 and the assembly seat 12 to reduce the power demand for the second drive motor and realize the reversal of the pull rope 16. The pulley block includes a fixed pulley block 15 installed at the corresponding position of the assembly seat 12 and the assembly groove 701, and a movable pulley block 14 located between the piston rod 22 and the fixed pulley block 15. Each set of fork bodies 7 has two pulleys 16. One pull rope 16 is connected to the movable pulley block 14 and the rod end of the piston rod 22. One end of the other pulley 16 is connected to the movable pulley block 14 and the other end is successively wound around the movable pulley block 14 and the fixed pulley block 15 and then fixedly connected to the winding disk 13. The fixed pulley block 15 is provided with three pulleys, and the movable pulley block 14 is provided with two pulleys, which can save 2 / 3 of the force. The number of the above pulleys can also be increased or decreased according to demand.

[0037] The anti-return structure includes symmetrically recessed receiving grooves on both sides of the piston head 221, a anti-return block 35 telescopically extended in the receiving groove, and a first limiting groove 173 arranged on the inner wall of the tube body 17 at one end close to the hinge shaft 20. A pressure spring 36 is arranged in the receiving groove to drive the anti-return block 35 to partially extend and then plug into the first limiting groove 173. An output inclined surface 351 is arranged at one end of the rod body of the anti-return block 35 close to the piston rod 22, which is used for the anti-return block 35 to slide out of the first limiting groove 173 when the force exceeding the preset force is applied. A first return spring 23 is arranged between the bottom of the air cavity 903 and the sealing assembly 904 and between the piston head 221 and the end of the tube body 17 away from the hinge shaft 20, which is used to realize the upward reset of the piston block 9042 and the retracted reset of the piston rod 22 when the piston rod 22 loses the pulling force of the pull rope 16.

[0038] A locking assembly is provided between the articulated shaft 20 and the lifting arm 19 for driving the two to rotate or lock relative to each other. At the same time, a locking mechanism is provided between the support plate 9 and the mounting seat 2 and between the support plate 9 and the fork body 7 for limiting the movement of the support plate 9 relative to the fork body 7 after the support plate 9 rises to abut against the bottom of the wire car. The locking of the locking assembly and the locking mechanism are both controlled by the relative displacement of the piston head 221 and the tube body 17 after the two are unlocked.

[0039] The locking assembly includes a socket provided on the lifting arm 19 for inserting the hinge shaft 20, a second limiting groove 21 circumferentially spaced on the inner ring wall of the socket, and a limiting tooth 31 elastically arranged on the outer wall of the hinge shaft 20 and capable of being separated from or inserted into the second limiting groove 21. An assembly rod 18 is protruded on the end of the tube body 17 away from the mounting seat 2. The hinge shaft 20 is protruded on the side walls of both sides of the end of the assembly rod 18 away from the tube body 17. An assembly cavity 181 is provided in the end of the assembly rod away from the tube body 17. The assembly cavity 18 There is a driving member 32 for sealing movement inside the tube 18, and the limiting tooth 31 is synchronously connected with the end of the driving member 32 away from the tube body 17. A driving spring 33 is arranged in the assembly cavity 181 to drive the driving member 32 to move toward the end away from the tube body 17. An air path 34 connected with the rodless cavity of the tube body 17 is arranged at the end of the assembly cavity 181 close to the tube body 17. The above structure makes the limiting tooth 31 in a retracted state in normal state and can be partially extended and plugged into the second limiting groove 21 when the piston rod 22 extends a preset stroke toward the mounting seat 2.

[0040] The locking mechanism includes a guide rod 10 vertically arranged on the bottom surface of the mounting seat 2 and the support plate 9 at one end away from the mounting seat 2, a guide groove arranged on the support plate 9 and the fork body 7 and corresponding to the guide rod 10, and an engaging tooth 24 horizontally telescopically arranged at the bottom of the guide groove. A rack 11 for the engaging tooth 24 to engage is vertically arranged on one side of the guide rod 10 close to the engaging tooth 24, and the extension and retraction of the engaging tooth 24 is controlled by an electromagnetic control component.

[0041] The electromagnetic control assembly includes an electromagnet 27 and a second return spring 28 connected between the bite tooth 24 and the electromagnet 27 to drive the bite tooth 24 to be in a retracted state. The electromagnet 27 and the second return spring 28 are accommodated in a groove at the bottom of the guide groove. A telescopic member 25 is horizontally guided and moved in the groove. The telescopic member 25 is provided with the bite tooth 24 at the upper end of one side facing the rack 11 and an iron block 26 is embedded at the lower end. The iron block 26 abuts against the second return spring 28. The electromagnet 27 is installed on the side of the second return spring 28 close to the rack 11. The extension of the telescopic member 25 The retraction is controlled by the energization or de-energization of the electromagnet 27, and the energization or de-energization of the electromagnet 27 is controlled by a control circuit, which includes an electromagnet 27 and a control switch 29 arranged in series. The control switch 29 is a momentary switch and is installed at one end of the tube body 17 close to the mounting seat 2. When the piston head 221 moves to contact the control switch 29, the electromagnet 27 is energized, and the engaging tooth 24 partially extends out of the groove and engages with the rack 11; when the piston head 221 leaves the control switch 29, the electromagnet 27 is de-energized, and the engaging tooth 24 retracts and disengages from the rack 11.

[0042] A pressure sensing assembly 8 with a first pressure sensor at the end is installed on both sides of the front fork assembly on the mounting seat 2, a second pressure sensor (not shown) is arranged on the pressure wheel 5, the first drive motor 6 and the second motor both adopt a servo-driven worm gear reduction motor with a self-locking function, the first pressure sensor, the second pressure sensor, the first drive motor 6, the second drive motor and the control switch 29 connected in series with the electromagnet 27 are all connected to the PLC in the vehicle body 1, when the first pressure sensor detects a preset pressure value, the PLC controls the first drive motor 6 and the second drive motor to be powered at the same time, and the first drive motor After 6 is energized, the shaft is driven to rotate, causing the pressure arm 4 to flip downward, and the pressure arm 4 clamps the steel pipe on the side enclosure of the wire car and tightens it with the pressure wheel 5. When the second pressure sensor detects the preset pressure value, the PLC controls the first drive motor 6 to lose power, and the pressure wheel 5 maintains the pressing state; after the second drive motor is energized, it drives the winding disk 13 to reel. During the winding process of the winding disk 13, the support plate 9 first rises to abut against several steel pipes at the bottom of the wire car (an elastic layer is provided on the support plate 9 to achieve sealing of the contact part between the air hole 902 and the steel pipe); then, the air hole 902 in sealed contact with the bottom of the steel pipe is switched from normal pressure to negative pressure. During this process, the limiting tooth 31 switches from the retracted state to the partially extended state and meshes with the second limiting tooth 31 in the lifting arm 19, limiting the rotation of the lifting arm 19 relative to the hinge shaft 20, that is, realizing the initial limiting of the support plate 9 relative to the fork body 7; subsequently, the electromagnet 27 is energized, and the meshing tooth 24 switches from the retracted state to the partially extended state and meshes with the rack 11, further limiting the vertical movement of the support plate 9 relative to the fork body 7. As the electromagnet 27 is energized, the PLC controls the second drive motor to lose power, and the winding drum 13 is in a stationary state due to the self-locking ability of the second drive motor. The above structure allows the wire machine to simultaneously When transporting the wire cart, the PLC can control the first and second drive motors to flip to the initial state (the number of flips is the same as the forward rotation), and the pressing component is separated from the wire cart as the first drive motor reverses, and the support plate 9 is first unlocked as the second drive motor reverses, and then the air hole 902 gradually restores normal pressure and finally drops to the initial height. Finally, the PLC controls the vehicle body to retreat and separate from the wire cart. The above operation steps are all implemented by the existing logic programming of the PLC.

[0043] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A wire machine handling AGV, comprising a body (1), a mounting seat (2) raised and lowered at the front end of the body (1), and a front fork assembly located on the mounting seat (2), characterized in that: A pressing component is disposed on the mounting seat (2) above the front fork assembly, and the up and down turning of the pressing component is controlled by a first drive motor (6). The pressing component and the front fork assembly form a limit assembly that can clamp or release the wire drawing machine. The front fork assembly includes a fork body (7) fixed at one end on the mounting seat (2), a support plate (9) vertically raised and lowered on the upper end surface of the fork body (7), and air holes (902) uniformly distributed on the upper end surface of the support plate (9). An air cavity (903) connected to all the air holes (902) is disposed in the support plate (9). A sealing component is provided in the air cavity (903) that moves in a sealed manner and can drive the air holes (902) in sealed contact with the wire drawing machine to switch air pressure as it moves. (904), the lifting and lowering of the support plate (9) and the movement of the sealing component (904) are synchronously controlled by a linkage drive component, which includes a moving component that is horizontally guided and moved in the fork body (7), a hinge shaft (20) located on both sides of the moving component at one end away from the mounting seat (2), and two lifting arms (19) one end of which is hinged to a hinge shaft (20) and the other end of which is respectively hinged to the bottom of the fork body (7) and the lower end of the support plate (9). All the moving components move synchronously and are synchronously controlled by a winding mechanism. When the support plate (9) rises to abut against the bottom of the wire cart, the air hole (902) in sealing contact with the wire cart switches from normal pressure to a negative pressure state.

2. A wire-carrying AGV according to claim 1, characterized in that: The moving assembly comprises a tube body (17) guided and translated along the length direction of the fork body (7) and a piston rod (22) sealed and moved in the tube body (17); a side wall of a piston head (221) of the piston rod (22) is provided with a non-return structure which drives the piston head (221) and the tube body (17) to be locked under normal conditions and drives the piston head (221) and the tube body (17) to be unlocked after the piston rod (22) is subjected to a tensile force exceeding a preset value; and an air delivery hose (30) is connected to the rodless cavity of the tube body (17) and the end of the air cavity (903) away from the air hole (902).

3. A wire-carrying AGV according to claim 2, characterized in that: The anti-return structure comprises symmetrically recessed receiving grooves on both sides of the piston head (221), an anti-return block (35) telescopically arranged in the receiving groove, and a first limiting groove (173) arranged on the inner wall of one end of the tube body (17) close to the hinge shaft (20); a pressure spring (36) is arranged in the receiving groove to drive the anti-return block (35) to partially extend and then be plugged into the first limiting groove (173); and an output inclined surface (351) is arranged at one end of the rod body of the anti-return block (35) close to the piston rod (22) for sliding out of the first limiting groove (173) when the anti-return block (35) is subjected to a force exceeding a preset value.

4. The wire-carrying AGV according to claim 3, characterized in that: A first return spring (23) is arranged between the bottom of the air cavity (903) and the sealing assembly (904) and / or between the piston head (221) and an end of the tube body (17) away from the hinge shaft (20).

5. The wire-carrying AGV according to claim 3, characterized in that: One end of the fork body (7) close to the mounting seat (2) is synchronously connected to an assembly seat (12) fixed on the mounting seat (2); the winding mechanism comprises a winding disk (13) rotating in the assembly seat (12), a second driving motor driving the winding disk (13) to rotate, and a pull rope (16) having one end fixed to the winding disk (13) and the other end fixed to the piston rod (22); a labor-saving pulley block for saving power of the second driving motor and realizing reversal of the pull rope (16) is arranged between the pull rope (16) and the assembly seat (12).

6. The wire-carrying AGV according to claim 3, characterized in that: A locking assembly is provided between the hinge shaft (20) and the lifting arm (19) to drive the two to rotate relative to each other or to lock. The locking assembly comprises a socket provided on the lifting arm (19) for inserting the hinge shaft (20), a second limiting groove (21) circumferentially spaced on the inner ring wall of the socket, and a limiting tooth (31) elastically and telescopically provided on the outer wall of the hinge shaft (20) and capable of being separated from or inserted into the second limiting groove (21). The limiting tooth (31) is in a retracted state in a normal state and can be partially extended and plugged into the second limiting groove (21) when the piston rod (22) extends a preset stroke in the direction of the mounting seat (2).

7. The wire-carrying AGV according to claim 6, characterized in that: An assembly rod (18) is protruded from one end of the tube body (17) away from the mounting seat (2), and a hinge shaft (20) is protruded from the side walls on both sides of the end of the assembly rod (18) away from the tube body (17). An assembly cavity (181) is provided in the end of the assembly rod (18) away from the tube body (17), and a driving member (32) is sealed and moved in the assembly cavity (181). The limit tooth (31) is synchronously connected with the end of the driving member (32) away from the tube body (17), and a driving spring (33) is provided in the assembly cavity (181) for driving the driving member (32) to move toward the end away from the tube body (17). An air path (34) connected to the rodless cavity of the tube body (17) is provided at one end of the assembly cavity (181) close to the tube body (17).

8. The wire-carrying AGV according to claim 3, characterized in that: A locking mechanism is provided between the support plate (9) and the mounting seat (2) and / or between the support plate (9) and the fork body (7) for limiting the movement of the support plate (9) relative to the fork body (7) when the support plate (9) rises to abut against the bottom of the wire machine. The locking mechanism comprises a guide rod (10) vertically provided on the bottom surface of the mounting seat (2) and / or the support plate (9), a guide groove provided on the support plate (9) and / or the fork body (7) and corresponding to the guide rod (10) for guiding and cooperating, and a bite tooth (24) horizontally telescopically provided at the bottom of the guide groove. A rack (11) for engagement with the bite tooth (24) is vertically provided on one side of the guide rod (10) close to the bite tooth (24), and the extension and retraction of the bite tooth (24) is controlled by an electromagnetic control component.

9. The wire-carrying AGV according to claim 8, characterized in that: The electromagnetic control component comprises an electromagnet (27) and a second return spring (28) connected between the meshing tooth (24) and the electromagnet (27) to drive the meshing tooth (24) to be in a retracted state. The electromagnet (27) and the second return spring (28) are accommodated in a groove at the bottom of the guide groove. A telescopic member (25) is guided and moved in the groove. The meshing tooth (24) is arranged at the upper end of the telescopic member (25) facing the rack (11), and an iron block (26) is embedded at the lower end. The iron block (26) is in contact with the second return spring (28). The electromagnet (27) is installed on the side of the second return spring (28) close to the rack (11). The extension of the telescopic member (25) is The retraction is controlled by the energization or de-energization of the electromagnet (27), and the energization or de-energization of the electromagnet (27) is controlled by a control circuit, the control circuit comprises an electromagnet (27) and a control switch (29) arranged in series, the control switch (29) is a momentary switch and is installed at one end of the tube body (17) close to the mounting seat (2), when the piston head (221) moves to contact the control switch (29), the electromagnet (27) is energized, the meshing teeth (24) partially extend out of the groove and mesh with the rack (11); when the piston head (221) leaves the control switch (29), the electromagnet (27) is de-energized, the meshing teeth (24) retract and disengage from the rack (11).

10. The wire-carrying AGV according to claim 1, characterized in that: The pressing component comprises a pressing wheel (5), the pressing wheel (5) is fixed to the upper end of a pressing arm (4) bent in the direction of the front fork assembly, the lower end of the pressing arm (4) is fixed to a rotating shaft (3), both ends of the rotating shaft (3) are rotatably connected to the mounting seat (2) and are horizontally arranged above the front fork assembly, and a first driving motor (6) is installed at one end of the mounting seat (2) and is electrically connected to the rotating shaft (3).

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