A guide rail device for AGV

Abstract

The present application relates to a guide rail device for AGV, comprising a guide rail; a guide frame, which is slidably arranged on the guide rail; a locking member, which is used to detachably connect the guide frame to the guide rail; and a vehicle connecting member, which is arranged on the guide frame and is used to detachably connect to the AGV vehicle. The present application has the effect of enabling the intelligent mobile vehicle to switch between two modes of flexible movement and precise movement.

Description

Technical Field

[0001] The present application relates to the field of smart logistics, and in particular to a guide rail device for AGV. Background Art

[0002] Smart mobile carts are important equipment in smart logistics. With the rapid development of industrial automation and intelligent manufacturing, the technology of smart mobile carts is also constantly improving. From the initial simple carrying function to today's advanced functions such as autonomous navigation, path planning, dynamic obstacle avoidance, and automatic charging, smart mobile cart technology has played an important role in improving production efficiency and reducing labor costs.

[0003] In the related technology, there are two types of intelligent mobile vehicles: AGV and RGV. The wheeled motion design of AGV allows it to be free from the restrictions of fixed tracks and can move freely in various venues, roads and spaces. RGV runs along the preset track with relatively fast acceleration and movement speed, which is suitable for transporting heavy workpieces. Because the guide rails are fixed, RGV moves smoothly and has high parking positioning accuracy.

[0004] Regarding the above-mentioned related technologies, there are the following defects. First, the positioning accuracy of AGV is low, so it is not suitable for material loading and unloading related transfer work. Second, the work of RGV requires the use of tracks, and in the actual production environment, there are some areas where tracks cannot be laid, so the mobility of RGV is poor, and RGV vehicles of different specifications require tracks of different specifications. In summary, a single type of intelligent mobile vehicle cannot switch between the two modes of flexible movement and precise movement. Summary of the invention

[0005] In order to enable the intelligent mobile vehicle to switch between the two modes of flexible movement and precise movement, the present application provides a guide rail device for AGV.

[0006] The present application provides a guide rail device for AGV using the following technical solution:

[0007] A guide rail device for AGV, comprising:

[0008] guide;

[0009] A guide frame, slidably disposed on the guide rail;

[0010] A locking member, disposed on the guide frame, wherein the locking member is detachably connected to the guide rail;

[0011] The vehicle connecting part is arranged on the guide frame, and the vehicle connecting part is used for detachably connecting with the AGV vehicle.

[0012] By adopting the above technical solution, the AGV vehicle can move flexibly with the help of its own characteristics before being connected to the guide rail device. When entering the precise movement mode, the AGV vehicle is first moved to a predetermined position near the guide rail, and then the AGV vehicle is connected to the guide frame through the vehicle connecting parts to transform the AGV vehicle into an RGV vehicle. Then, the locking parts are closed to disconnect the guide frame from the guide rail. Subsequently, the AGV vehicle can achieve precise movement under the action of the guide frame, thereby enabling the intelligent mobile vehicle to switch between the two modes of flexible movement and precise movement.

[0013] Preferably, the locking member and the vehicle connecting member are connected to external elements by magnetic attraction.

[0014] By adopting the above technical solution, while locking the guide frame on the guide rail and connecting the guide frame to the AGV vehicle, the guide rail and the outer shell of the AGV vehicle can be made of materials that can be magnetically attracted. Therefore, when the AGV vehicle is to be switched to the RGV vehicle, the relative position of the AGV vehicle and the guide rail can be adaptively adjusted, and the relative position of the guide frame on the guide rail can be adaptively adjusted, thereby improving the flexibility of use of the guide rail device.

[0015] Preferably, the locking member and the vehicle connecting member are connected to external elements by penetration.

[0016] By adopting the above technical solution, while locking the guide frame on the guide rail and connecting the guide frame to the AGV vehicle, the number of power elements configured on the locking parts and the vehicle connecting parts can be reduced, thereby making the structure of the guide rail device simpler.

[0017] Preferably, the locking member and the connecting member are both in the form of electromagnetic latches.

[0018] By adopting the above technical solution, the electromagnetic latch realizes the extension and retraction of its own pin shaft by starting and closing, so the connection between the guide frame and the AGV vehicle can be faster, and the connection between the guide frame and the guide rail can also be faster, thereby allowing the AGV vehicle to switch between AGV mode and RGV mode more quickly.

[0019] Preferably, the plurality of guide frames are spaced apart along the length direction of the guide rail, and one guide frame is connected to one locking member and one connecting member; an adjusting frame assembly is provided between the plurality of guide frames, and the adjusting frame assembly is used to change the spacing between two adjacent guide frames.

[0020] By adopting the above technical solution, due to the setting of the adjustment frame assembly and the guide frame, the distance between two adjacent connecting parts can be changed according to the size specifications of the AGV vehicle, so that AGV vehicles of different sizes can be stably connected to the guide frame.

[0021] Preferably, the adjustment frame assembly includes an adjustment frame electromagnet, a balance spring and a spring splicing block, a plurality of the adjustment frame electromagnets are respectively arranged on two opposite surfaces of a guide frame, and the adjustment frame electromagnets between two adjacent guide frames attract or repel each other; a plurality of the balance springs are respectively arranged on two opposite surfaces of a guide frame, and the balance springs between two adjacent guide frames are connected to balance the suction or repulsion generated by the adjustment frame electromagnet; the spring splicing block is arranged at the connection between the balance springs, and the spring splicing blocks are detachably connected.

[0022] By adopting the above technical scheme, firstly, under the action of the magnetic field force of the frame adjustment electromagnet and the elastic force of the balance spring, two adjacent guide frames can be at different intervals. At the same time, due to the structural characteristics of the spring, the interval range between the two adjacent guide frames can be larger, so that the guide rail device can adapt to more AGV vehicles of different specifications; secondly, a guide frame, an adjustment electromagnet, a balance spring and a spring splicing block on a guide frame, these components can be used as a standard module component. When it is necessary to add a connecting part, a corresponding module component can be added, so that it is convenient for the staff to make adaptive specifications changes to the guide rail device.

[0023] Preferably, the plurality of balancing springs and the plurality of spring splicing blocks are symmetrically arranged relative to a connecting line of the plurality of adjusting frame electromagnets.

[0024] By adopting the above technical solution, the magnetic field force of the frame adjustment electromagnet and the elastic force of the balance spring can act more evenly on the guide frame, thereby making the spacing adjustment between two adjacent guide frames more stable and keeping the posture of the guide frame stable after adjustment.

[0025] Preferably, the guide frame is provided with a spring receiving groove, and the spring receiving groove is connected to one end of the balance spring away from the spring splicing block. When the spring splicing block covers the notch of the spring receiving groove and is fixed on the guide frame, the balance spring is completely in the spring receiving groove.

[0026] By adopting the above technical solution, the side of the two outermost guide frames that are away from each other is not connected to other components, so the balance spring can be pressed to allow the balance spring to be retracted into the spring receiving groove. At the same time, the spring splicing block is fixed on the guide frame, thereby making the side of the guide frame that is not connected to the component more concise and less likely to interfere with the normal operation of other components.

[0027] Preferably, the adjustment frame assembly further includes a magnetic pole distance changing component, and the magnetic pole distance changing component is used to change the distance between the adjustment frame electromagnet and the guide frame to which it is connected.

[0028] By adopting the above technical solution, the magnetic pole pitch changing member can change the distance between the adjustment frame electromagnet and the guide frame. In the process of changing the distance between two adjacent guide frames, the distance between the two adjacent adjustment frame electromagnets is changed asynchronously, so that the two adjacent adjustment frame electromagnets can be in the area where the magnetic flux lines are relatively dense in the magnetic field generated by the other adjustment frame electromagnet. Therefore, the suction or repulsion between the two adjustment frame electromagnets can be more accurately controlled, thereby more stably and accurately adjusting the distance between the two adjacent guide frames.

[0029] Preferably, the guide frame is provided with a mounting groove; the magnetic pole pitch change component includes a pitch change rod, a retracting electromagnet and an extending spring, the pitch change rod is slidably inserted into the mounting groove, and the end of the pitch change rod outside the mounting groove is connected to the adjustment frame electromagnet; the retracting electromagnet is arranged at the bottom of the mounting groove, and the retracting electromagnet magnetically attracts the pitch change rod; the extending spring is located between the retracting electromagnet and the pitch change rod, one end of the extending spring is connected to the retracting electromagnet, and the other end is connected to the pitch change rod.

[0030] By adopting the above technical solution, with the cooperation of the retracting electromagnet and the extending spring, the length of the pitch-changing rod in the second receiving groove can be changed, so the distance between the frame adjustment electromagnet and the guide frame can be changed.

[0031] In summary, the present application includes at least one of the following beneficial technical effects:

[0032] Before the AGV is connected to the guide rail device, it can move flexibly with its own characteristics. When entering the precise movement mode, the AGV is first moved to a predetermined position near the guide rail, and then the AGV is connected to the guide frame through the vehicle connection to transform the AGV into an RGV. Then the locking piece is closed to disconnect the guide frame from the guide rail. Then, the subsequent AGV can achieve precise movement under the action of the guide frame, so that the intelligent mobile car can switch between the two modes of flexible movement and precise movement.

[0033] The electromagnetic latch realizes the extension and retraction of its own pin shaft by starting and closing, so the connection between the guide frame and the AGV vehicle can be faster, and the connection between the guide frame and the guide rail can also be faster, allowing the AGV vehicle to switch between AGV mode and RGV mode more quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the guide rail device used for AGV in Example 1 of the present application.

[0035] Figure 2 It is a schematic diagram of the guide rail device used for AGV in Example 2 of the present application.

[0036] Figure 3 It is a schematic diagram made to reflect the specific structure of the adjustment frame component in Example 2 of the present application.

[0037] Figure 4 It is a schematic diagram used to illustrate the specific structure of the magnetic pole pitch changer in Example 2 of the present application.

[0038] Explanation of the reference numerals in the accompanying drawings: 1. Guide rail; 2. Guide frame; 3. Locking part; 4. Car connecting part; 5. Frame adjustment assembly; 51. Frame adjustment electromagnet; 52. Balance spring; 53. Spring splicing block; 54. Magnetic pole pitch changing part; 541. Pitch changing rod; 542. Retracting electromagnet; 543. Extending spring; 6. Spring collection groove; 7. Installation groove; 8. AGV vehicle. DETAILED DESCRIPTION

[0039] The following is combined with Figure 1-Figure 4 This application is described in further detail.

[0040] An embodiment of the present application discloses a guide rail device for an AGV. Example

[0041] Reference Figure 1 The guide rail device for AGV includes a guide rail 1, a guide frame 2, a locking piece 3 and a vehicle connecting piece 4. The guide frame 2 is slidably arranged on the guide rail 1, and the guide frame 2 slides along the extension direction of the guide rail 1 by means of rollers; the locking piece 3 allows the guide frame 2 to be detachably connected to the guide rail 1, and the locking piece 3 is installed at a predetermined position of the guide rail 1. Starting the locking piece 3 will lock the guide frame 2 on the guide rail 1, and closing the locking piece 3 will allow the guide frame 2 to resume sliding on the guide rail 1; the vehicle connecting piece 4 is arranged on the guide frame 2, and the vehicle connecting piece 4 is detachably connected to the AGV vehicle 8. Starting the vehicle connecting piece 4 will connect the guide frame 2 to the AGV vehicle 8, and closing the vehicle connecting piece 4 will disconnect the guide frame 2 from the AGV vehicle 8.

[0042] Reference Figure 1 The working principle is as follows: before the AGV vehicle 8 is connected to the guide frame 2, it can move flexibly with the help of its own characteristics. When entering the precise movement mode, the AGV vehicle 8 is first moved to a predetermined position near the guide rail 1, and then the AGV vehicle 8 is connected to the guide frame 2 through the vehicle connection part 4. At this time, the AGV vehicle 8 will be transformed into an RGV vehicle, and then the locking part 3 is closed to disconnect the guide frame 2 from the guide rail 1. Therefore, the subsequent AGV vehicle 8 can achieve precise movement under the action of the guide frame 2, so that the intelligent mobile vehicle can switch between the two modes of flexible movement and precise movement.

[0043] Reference Figure 1, considering that the guide frame 2 will move with the AGV vehicle 8, and the vehicle connecting part 4 and the locking part 3 will be equipped with a power element, the power element must be connected to the power source, so it is necessary to prevent the wiring of the power element from interfering with the movement of the guide frame 2, and it is necessary to set up some avoidance structures. In order to reduce the setting of these structures and make the guide rail device more concise, the locking part 3 and the vehicle connecting part 4 will choose to penetrate external elements to achieve connection. Specifically, the structural form of the locking part 3 and the vehicle connecting part 4 is an electromagnetic latch, wherein the pin shaft of the locking part 3 passes through the guide frame 2 to lock the guide frame 2 on the guide rail 1, and the pin shaft of the vehicle connecting part 4 partially penetrates into the AGV vehicle 8, that is, the pin shaft of the vehicle connecting part 4 will be inserted into the interface of the AGV vehicle 8 to achieve the connection between the AGV vehicle 8 and the guide frame 2. In addition, this structural form will also allow the AGV vehicle 8 to switch between the AGV mode and the RGV mode more quickly due to the working characteristics of the electromagnetic latch.

[0044] In other embodiments, if the structural simplicity of the guide rail device is not considered, but the flexibility of use of the guide rail device is considered, the locking member 3 and the vehicle connecting member 4 can be connected to the external components by magnetic attraction. The advantage of this design is that when the AGV vehicle 8 is to be switched to the RGV vehicle, the relative position of the AGV vehicle 8 and the guide rail 1 can be adaptively adjusted, and the relative position of the guide frame 2 on the guide rail 1 can also be adaptively adjusted, thereby improving the flexibility of use of the guide rail device.

[0045] The implementation principle of a guide rail device for AGV in Example 1 of the present application is as follows: before the AGV vehicle 8 is connected to the guide frame 2, it can move flexibly with the help of its own characteristics. When entering the precise movement mode, the AGV vehicle 8 is first moved to a predetermined position near the guide rail 1, and then the AGV vehicle 8 is connected to the guide frame 2 through the vehicle connecting part 4. At this time, the AGV vehicle 8 will be transformed into an RGV vehicle, and then the locking part 3 is closed to release the connection between the guide frame 2 and the guide rail 1. Therefore, the subsequent AGV vehicle 8 can achieve precise movement under the action of the guide frame 2, so that the intelligent mobile vehicle can switch between the two modes of flexible movement and precise movement. Example

[0046] Reference Figure 2 and Figure 3 , which is different from Example 1, is that: in order to adapt to AGV vehicles 8 of different sizes, the number of connecting parts 4 and locking parts 3 is different, and the spacing between two adjacent connecting parts 4 is also different. Specifically, multiple guide frames 2 are spaced apart along the length direction of the guide rail 1, one guide frame 2 is connected to one connecting part 4, and the locking part 3 is connected to the guide frame 2. At the same time, an adjustment frame assembly 5 is provided between the multiple guide frames 2 to change the spacing between two adjacent guide frames 2.

[0047] Reference Figure 2 and Figure 3 The adjustment frame assembly 5 includes an adjustment frame electromagnet 51, a balancing spring 52 and a spring splicing block 53. A guide frame 2 is equipped with multiple adjustment frame electromagnets 51, and two adjustment frame electromagnets 51 are provided. The two adjustment frame electromagnets 51 are respectively arranged on two opposite outer surfaces of the guide frame 2; a guide frame 2 is equipped with multiple balancing springs 52, and four balancing springs 52 are provided. The four balancing springs 52 are grouped in two, and the two groups of balancing springs 52 are respectively arranged on two opposite outer surfaces of the guide frame 2, and at the same time, the two balancing springs 52 in each group are symmetrically arranged relative to the connecting line where the adjustment frame electromagnet 51 is located. The balancing springs 52 between two adjacent guide frames 2 will be connected to balance the baptism or repulsive force generated by the adjustment frame electromagnet 51 through the elastic force of the balancing spring 52; the spring splicing block 53 is arranged at the connection between the balancing springs 52, and the spring splicing blocks 53 are detachably connected through permanent magnets.

[0048] Reference Figure 2 and Figure 3 The above-mentioned adjustment frame assembly 5 has the following advantages. First, with the help of the magnetic field force of the adjustment frame electromagnet 51 and the elastic force of the balance spring 52, it is possible to make two adjacent guide frames 2 at different intervals. At the same time, due to the structural characteristics of the spring, the interval range between the two adjacent guide frames 2 can be larger, so that the guide rail device can adapt to more AGV vehicles 8 with different specifications; second, a guide frame 2 and the adjustment frame electromagnet 51, balance spring 52 and spring splicing block 53 thereon can be used as a standard module component. When it is necessary to increase the vehicle connecting part 4, only one module component needs to be added accordingly, which makes it convenient for the staff to make adaptive specifications changes to the guide rail device.

[0049] Reference Figure 2 and Figure 3 Since the side of the two outermost guide frames 2 that are away from each other is not connected to other components, in order to make this side of the guide frame 2 more concise and not interfere with the normal operation of other components, a spring receiving groove 6 is opened on the guide frame 2. The spring receiving groove 6 is connected to the end of the balance spring 52 away from the spring splicing block 53. The balance spring 52 can be squeezed to make the balance spring 52 retract into the spring receiving groove 6, and the spring splicing block 53 is fixed to the guide frame 2 by bolts at the same time, so that the balance spring 52 can be stored, so as to achieve the purpose of making the unconnected side of the guide frame 2 more concise.

[0050] Reference Figure 2 and Figure 4In order to more accurately adjust the spacing between two adjacent guide frames 2, the adjustment frame assembly 5 also includes a magnetic pole pitch changer 54. Correspondingly, the guide one-way frame is provided with a mounting slot 7. At the same time, the magnetic pole pitch changer 54 includes a pitch changer rod 541, an incoming electromagnet 542 and an extending spring 543. The pitch changer rod 541 is slidably arranged in the mounting slot 7. The end of the pitch changer rod 541 outside the mounting slot 7 is connected to the adjustment frame electromagnet 51. The incoming electromagnet 542 is arranged at the bottom of the mounting slot 7. The incoming electromagnet 542 magnetically attracts the pitch changer rod 541. The extending spring 543 is arranged between the electromagnet and the pitch changer rod 541. One end of the extending spring 543 is connected to the incoming electromagnet 542, and the other end is connected to the pitch changer rod 541. Under the coordinated cooperation of the incoming electromagnet 542 and the extending spring 543, the length of the pitch changer rod 541 in the second receiving slot can be changed, so the distance between the adjustment frame electromagnet 51 and the guide frame 2 can be changed.

[0051] Reference Figure 2 and Figure 4 The advantages of the magnetic pole pitch changer 54 are as follows: in the process of changing the spacing between two adjacent guide frames 2, the spacing between two adjacent adjustment frame electromagnets 51 can be changed asynchronously, so that the two adjacent adjustment frame electromagnets 51 can be in the area where the magnetic flux lines are relatively dense in the magnetic field generated by the other adjustment frame electromagnet 51, so the suction or repulsion between the two adjustment frame electromagnets 51 can be more accurately controlled, thereby more stably and accurately adjusting the spacing between the two adjacent guide frames 2.

[0052] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A guide rail device for AGV, characterized in that: include: Guide rail (1); A guide frame (2) slidably arranged on the guide rail (1); A locking member (3) used to connect the guide frame (2) to the guide rail (1) in a detachable manner; A vehicle connecting member (4) is arranged on the guide frame (2), and the vehicle connecting member (4) is used for being detachably connected to the AGV vehicle (8); The plurality of guide frames (2) are spaced apart along the length direction of the guide rail (1), and one guide frame (2) is connected to one locking member (3) and one connecting member (4); a frame adjustment component (5) is provided between the plurality of guide frames (2), and the frame adjustment component (5) is used to change the distance between two adjacent guide frames (2); The adjustment frame assembly (5) comprises an adjustment frame electromagnet (51), a balancing spring (52) and a spring splicing block (53); a plurality of the adjustment frame electromagnets (51) are respectively arranged on two opposite surfaces of a guide frame (2); the adjustment frame electromagnets (51) between two adjacent guide frames (2) attract or repel each other; a plurality of the balancing springs (52) are respectively arranged on two opposite surfaces of a guide frame (2); the balancing springs (52) between two adjacent guide frames (2) are connected to balance the suction force or repulsion force generated by the adjustment frame electromagnet (51); the spring splicing block (53) is arranged at the connection between the balancing springs (52); the spring splicing blocks (53) are detachably connected to each other; The frame adjustment component (5) further comprises a magnetic pole distance changing member (54), wherein the magnetic pole distance changing member (54) is used to change the distance between the frame adjustment electromagnet (51) and the guide frame (2) to which it is connected; The guide frame (2) is provided with a mounting groove (7); the magnetic pole pitch changing member (54) comprises a pitch changing rod (541), a retracted electromagnet (542) and an extending spring (543); the pitch changing rod (541) is slidably arranged in the mounting groove (7); the end of the pitch changing rod (541) outside the mounting groove (7) is connected to the frame adjustment electromagnet (51); the retracted electromagnet (542) is arranged at the bottom of the mounting groove (7); the retracted electromagnet (542) magnetically attracts the pitch changing rod (541); the extending spring (543) is located between the retracted electromagnet (542) and the pitch changing rod (541); one end of the extending spring (543) is connected to the retracted electromagnet (542), and the other end is connected to the pitch changing rod (541).

2. The guide rail device for AGV according to claim 1, characterized in that: The locking member (3) and the vehicle connecting member (4) are connected to external elements by magnetic attraction.

3. The guide rail device for AGV according to claim 1, characterized in that: The locking member (3) and the vehicle connecting member (4) are connected to external elements by penetration.

4. The guide rail device for AGV according to claim 3, characterized in that: The locking member (3) and the vehicle connecting member (4) are both in the form of electromagnetic latches.

5. The guide rail device for AGV according to claim 1, characterized in that: The plurality of balancing springs (52) and the plurality of spring splicing blocks (53) are symmetrically arranged relative to a connecting line of the plurality of adjusting frame electromagnets (51).

6. The guide rail device for AGV according to claim 1, characterized in that: The guide frame (2) is provided with a spring receiving groove (6), and the spring receiving groove (6) is connected to one end of the balance spring (52) away from the spring splicing block (53). When the spring splicing block (53) covers the notch of the spring receiving groove (6) and is fixed on the guide frame (2), the balance spring (52) is completely in the spring receiving groove (6).

Images