Docking device for multi-AGV collaborative application
By designing a docking device for multi-AGV collaborative application, the problem of unfavorable application of AGV when handling larger materials and low docking and separation efficiency in multi-AGV systems is solved, and the rapid docking and separation between AGVs is achieved, and the working efficiency is improved.
Patent Information
- Application Number
- CN202411816955.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-11
- Publication Date
- 2025-03-11
AI Technical Summary
Existing AGVs require larger AGVs when handling larger materials, resulting in unfavorable AGV production and application. In multi-AGV systems, rapid docking and separation between AGVs are difficult to achieve, affecting work efficiency.
A docking device for multi-AGV collaborative applications is designed, including a plug-in assembly and a clamping assembly, which drives the plug-in movement through the drive member to achieve rapid docking and separation between AGVs.
It realizes rapid docking and separation between AGVs, improves the working efficiency of AGVs, and adapts to the handling needs of larger materials.
Smart Images
Figure CN119590154A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of warehousing logistics, and in particular to a docking device for collaborative application of multiple AGVs. Background Art
[0002] In production, AGV is mainly used to transfer and transport suitable unit materials, especially in engineering machinery workshops. When larger materials need to be transported, a larger AGV is needed to carry out the transportation. This proportional application relationship is extremely unfavorable for the actual production application of AGV.
[0003] Nowadays, the problem of transporting oversized materials has been solved by operating multiple AGV systems. When multiple AGV systems are running, it is necessary to achieve rapid docking and separation between AGVs to enhance the work adaptability of AGVs. Summary of the invention
[0004] In order to achieve rapid docking and separation between AGVs and improve the working efficiency of AGVs, the present application provides a docking device for multi-AGV collaborative applications.
[0005] The present application provides a docking device for multi-AGV collaborative application, which adopts the following technical solution: A docking device for multi-AGV collaborative application, comprising: No less than one plug-in assembly, wherein the plug-in assembly is mounted on the inner wall of the AGV; At least one card-connecting assembly is installed on the inner wall of the AGV, and the card-connecting assembly is connected to the corresponding side of the plug-in assembly; Wherein, the plug-in assembly can be snap-connected with the snap-connection assembly; The plug-in assembly comprises: A driving member, wherein the driving member is mounted on the inner wall of the AGV; A plug-in connector is connected to the driving member, and the plug-in connector is used to be connected to the clamping assembly.
[0006] By adopting the above technical solution, in the initial state, the AGV is in an independent operation state, and the plug-in assembly is stored inside the AGV. When the AGV needs to be docked, the driving part works and drives the plug-in part to move, and the plug-in part enters another AGV card connection assembly to achieve the docking of the two AGVs, realize the rapid docking and separation between AGVs, and improve the working efficiency of AGV.
[0007] Optionally, the driving member includes: Two guide frames, the two guide frames are symmetrically and fixedly mounted on the inner wall of the AGV; a first cylinder body, wherein a fixed end of the first cylinder body is rotatably mounted on the guide frame; Two forks, the two forks are symmetrically and rotatably mounted on the inner wall of the AGV, the movable end of the first cylinder is rotatably connected to the forks, and the forks are connected to the connector; A sliding rod, both ends of which are slidably mounted on the two guide frames, and the two forks are slidably connected to the sliding rod; A base rod is fixedly mounted on the sliding rod, the connector is mounted on the base rod, and a guide rod is passed through and fixedly mounted on the base rod.
[0008] By adopting the above technical solution, when AGV docking is required, the movable end of the first cylinder body is shortened, and the movable end of the first cylinder body is shortened to drive the fork to rotate in the direction close to the fixed end of the first cylinder body, and the rotation of the fork drives the sliding rod to move in the direction close to the inner wall of the AGV on the guide frame, and the movement of the sliding rod drives the base rod to move in the direction close to the inner wall of the AGV, and the movement of the base rod drives the plug-in component to move, so that the plug-in component is inserted into the clamping assembly of another AGV, and the AGVs can be quickly docked. On the contrary, when the AGV needs to be separated, the movable end of the first cylinder body is extended, and the movable end of the first cylinder body is extended to drive the fork to rotate in the direction away from the fixed end of the first cylinder body, and the rotation of the fork drives the sliding rod to move in the direction away from the inner wall of the AGV on the guide frame, and the movement of the sliding rod drives the base rod to move in the direction away from the inner wall of the AGV, and the movement of the base rod drives the plug-in component to move, so that the plug-in component is away from the clamping assembly of another AGV, and the AGVs can be quickly separated. Improve the working efficiency of AGV.
[0009] Optionally, the connector includes: Two plug-in blocks, the upper surfaces of the two plug-in blocks are provided with sliding grooves, and stepped holes are penetrated in the front-to-back direction, the diameter of the stepped holes on the side close to the plug-in block inclined surface is larger than the diameter of the holes on the other side close to the plug-in block, the two plug-in blocks are symmetrically and slidably mounted on the base rod, the sides of the two plug-in blocks away from each other are inclined surfaces, and a sliding block is fixedly mounted on the plug-in block, and the sliding block is sleeved and slidably mounted on the guide rod; A first spring, wherein the first spring is sleeved on the guide rod, one end of the first spring is fixedly connected to the sliding block, and the other end of the first spring is fixedly connected to the base rod; Two plug interfaces are provided on the upper and lower end surfaces of the plug block.
[0010] By adopting the above technical solution, when AGVs are docked, under the action of the driving member, the plug-in block moves toward the direction of the card-connecting component of another AGV, the plug-in block abuts against the card-connecting component of another AGV, and achieves stable structural card connection, thereby realizing rapid docking between AGVs.
[0011] Optionally, the driving member further includes: A slide rail, wherein the slide rail is fixedly mounted on the inner wall of the AGV; Two sliding blocks are symmetrical and slidably mounted on the slide rail, and one end of the sliding block away from the slide rail is slidably connected to the plug-in block.
[0012] By adopting the above technical solution, the slider and the slide rail limit the plug-in block, thereby improving the stability of the plug-in block during movement.
[0013] Optionally, the plug-in assembly further includes at least one group of supporting members, the at least one group of supporting members are arranged between the two plug-in blocks, and the at least one group of supporting members each includes: A guide rod, both ends of which are respectively passed through and slidably mounted on the two plug-in blocks, and both ends of the guide rod are symmetrically provided with bosses with a diameter larger than that of the guide rod; The second spring is sleeved on the guide rod, and two ends of the second spring are respectively in contact with one side of the two plug-in blocks that are close to each other.
[0014] By adopting the above technical solution, under the action of the second spring, the two plug-in blocks always move away from each other, ensuring that the plug-in blocks always abut against the clamping assembly when entering the clamping assembly of another AGV, thereby improving the stability of the docking of the two AGVs.
[0015] Optionally, the clamping assembly includes: Two clamping blocks, the two clamping blocks are symmetrically and fixedly mounted on the inner wall of the AGV, the sides of the two clamping blocks close to each other are inclined, and the inclined surface of the clamping block has the same inclination as the inclined surface of the plug-in block; There is at least one card connector, the number of the card connector is the same as the number of the plug-in interfaces and the horizontal height is the same, and the card connector is installed on the upper and lower end surfaces of the card connector block.
[0016] By adopting the above technical solution, when the AGV is docked, the plug-in block enters between the two clamping blocks. When the clamping block abuts against the plug-in block, under the action of the third spring, the limit block enters the plug-in interface to fix the position of the plug-in block, thereby improving the docking stability of the AGV.
[0017] Optionally, the clamping member includes: A mounting hole, the mounting hole being arranged on the upper and lower end surfaces of the clamping block, and the mounting hole and the plug interface having the same horizontal height; A limit block, the limit block is slidably installed in the installation hole; The third spring is inserted into the mounting hole, one end of the third spring is fixedly connected to the bottom wall of the mounting hole, and the other end of the third spring is fixedly connected to the limit block.
[0018] By adopting the above technical solution, when the AGV is docked, the plug-in block enters between the two clamping blocks. When the clamping block abuts against the plug-in block, under the action of the third spring, the limit block enters the plug-in interface to fix the position of the plug-in block, thereby improving the docking stability of the AGV.
[0019] Optionally, a roller is rotatably mounted on one end of the plug-in block away from the base rod.
[0020] By adopting the above technical solution, the roller plays a stabilizing and guiding role in the movement of the plug-in block, while preventing the plug-in block from getting stuck when the clamping component is separated from the plug-in component, thereby improving the structural stability of a docking device for multi-AGV collaborative applications.
[0021] Optionally, the clamping assembly further includes: A second cylinder body, wherein a fixed end of the second cylinder body is fixedly mounted at a middle portion in a thickness direction of an end of the clamping block away from the AGV; A recovery plate, one end of which is slidably mounted on the middle portion of the thickness direction of the end of the clamping block away from the AGV, and one side of the recovery plate is hinged to the second cylinder body.
[0022] By adopting the above technical solution, when the AGV is separated, the movable end of the second cylinder body extends, and the movable end of the second cylinder body extends, thereby pushing the recovery plate to rotate in the direction close to the roller, and the recovery plate rotates and thereby pushes the roller to move in the direction away from the second cylinder body until the roller abuts against the inclined surface of the card block, and the limit block is separated from the plug-in interface, and then the plug-in component moves in the direction away from the card block with the cooperation of the driving component, thereby realizing the separation of the AGV.
[0023] Optionally, a shielding component is further included, and the shielding component includes: Two pallets, the two pallets are symmetrically and fixedly mounted on the inner wall of the AGV, and the pallets are provided with arc grooves; A third cylinder body, wherein a fixed end of the third cylinder body is rotatably mounted on the clamping plate; A first connecting rod, one end of which is rotatably mounted on the inner wall of the AGV, and a movable end of the third cylinder is rotatably mounted on the middle section of the first connecting rod; A second connecting rod, one end of which is rotatably connected to an end of the first connecting rod away from the inner wall of the AGV; A third connecting rod, one end of which is rotatably mounted on the clamping plate, and one end of the second connecting rod away from the first connecting rod is rotatably mounted on the middle section of the third connecting rod; a fourth connecting rod, one end of which is rotatably connected to the other end of the third connecting rod; A fifth connecting rod, one end of which is rotatably mounted on the clamping plate, and the other end of which is rotatably connected to an end of the fourth connecting rod away from the third connecting rod; A fixed block, the fixed block is fixedly mounted on the fifth connecting rod, and the fixed block is slidably mounted in the arc groove; A shielding plate, wherein both ends of the shielding plate are respectively fixedly connected to the two fourth connecting rods.
[0024] By adopting the above technical solution, when the AGV docking is required, the movable end of the third cylinder body is shortened, and the movable end of the third cylinder body is shortened, thereby driving the first connecting rod to rotate in the direction close to the card plate, the first connecting rod rotates and thereby drives the second connecting rod to move, the second connecting rod moves and thereby drives the third connecting rod to rotate in the direction close to the arc groove, the third connecting rod rotates and thereby drives the fourth connecting rod to move, and under the cooperation of the fixed block and the arc groove, the movement of the fourth connecting rod is limited by the fifth connecting rod. The movement of the fourth connecting rod then drives the shielding plate to move, so that the shielding plate moves from a vertical state to a horizontal state, which facilitates the operation of the plug-in assembly. When the card assembly and the plug-in assembly are in a separated state, the movable end of the third cylinder body is extended, and the movable end of the third cylinder body is extended, thereby driving the first connecting rod to rotate in the direction away from the card plate, the first connecting rod rotates and thereby drives the second connecting rod to move, the second connecting rod moves and thereby drives the third connecting rod to rotate in the direction away from the arc groove, the third connecting rod rotates and thereby drives the fourth connecting rod to move, and under the cooperation of the fixed block and the arc groove, the movement of the fourth connecting rod is limited by the fifth connecting rod. The movement of the fourth connecting rod drives the shielding plate to move, so that the shielding plate moves from a horizontal state to a vertical state, and the shielding plate returns to a shielding state, thereby protecting the internal components of the AGV and ensuring the cleanliness of the interior of the AGV.
[0025] In summary, the present application includes at least one of the following beneficial technical effects: 1. In the initial state, the AGV is in an independent operation state, and the plug-in components are stored inside the AGV. When the AGV needs to be docked, the drive component works and drives the plug-in component to move, and the plug-in component enters another AGV card connection component to achieve the docking of the two AGVs, realize the rapid docking and separation between AGVs, and improve the working efficiency of AGVs; 2. When AGV docking is required, the movable end of the first cylinder is shortened, and the shortened movable end of the first cylinder drives the shift fork to rotate in the direction close to the fixed end of the first cylinder. The rotation of the shift fork drives the sliding rod to move in the direction close to the inner wall of the AGV on the guide frame. The movement of the sliding rod drives the base rod to move in the direction close to the inner wall of the AGV. The movement of the base rod drives the connector to move, so that the connector is inserted into the card connection assembly of another AGV, thereby realizing rapid docking between AGVs. Conversely, when AGV separation is required, the movable end of the first cylinder is extended, and the extension of the movable end of the first cylinder drives the shift fork to rotate in the direction away from the fixed end of the first cylinder. The rotation of the shift fork drives the sliding rod to move in the direction away from the inner wall of the AGV on the guide frame. The movement of the sliding rod drives the base rod to move in the direction away from the inner wall of the AGV. The movement of the base rod drives the connector to move, so that the connector is away from the card connection assembly of another AGV, thereby realizing rapid separation between AGVs. Improve the working efficiency of AGV; 3. When AGV docking is required, the movable end of the third cylinder body is shortened, and the movable end of the third cylinder body is shortened, thereby driving the first connecting rod to rotate in the direction close to the card plate, the first connecting rod rotates and thereby drives the second connecting rod to move, the second connecting rod moves and thereby drives the third connecting rod to rotate in the direction close to the arc groove, the third connecting rod rotates and thereby drives the fourth connecting rod to move, and under the cooperation of the fixed block and the arc groove, the movement of the fourth connecting rod is limited by the fifth connecting rod. The movement of the fourth connecting rod then drives the shielding plate to move, so that the shielding plate moves from a vertical state to a horizontal state, which facilitates the operation of the plug-in assembly. When the card assembly and the plug-in assembly are in a separated state, the movable end of the third cylinder body is extended, and the movable end of the third cylinder body is extended, thereby driving the first connecting rod to rotate in the direction away from the card plate, the first connecting rod rotates and thereby drives the second connecting rod to move, the second connecting rod moves and thereby drives the third connecting rod to rotate in the direction away from the arc groove, the third connecting rod rotates and thereby drives the fourth connecting rod to move, and under the cooperation of the fixed block and the arc groove, the movement of the fourth connecting rod is limited by the fifth connecting rod. The movement of the fourth connecting rod drives the shielding plate to move, so that the shielding plate moves from a horizontal state to a vertical state, and the shielding plate returns to a shielding state, thereby protecting the internal components of the AGV and ensuring the cleanliness of the interior of the AGV. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] Figure 1 It is a schematic diagram of the structure of an embodiment of the present application; Figure 2 It is a schematic diagram for showing the structure of the plug-in assembly; Figure 3 It is a structural schematic diagram used to show the coordination between the plug-in assembly and the card-connection assembly; Figure 4 yes Figure 1 A magnified image of point A; Figure 5 It is a side view of the plug-in assembly and the card-connection assembly being separated; Figure 6 It is a side view of the plug-in assembly and the card-connection assembly being card-connected; Figure 7 It is a schematic diagram for showing the structure of the occlusion component occlusion; Figure 8 It is a structural diagram used to show the opening of the shielding component; Fig. 9 It is a structural cross-sectional view used to show the connection relationship between the plug-in block and the guide rod.
[0027] Description of reference numerals: 1. Plug-in assembly; 11. Driving member; 111. Guide frame; 112. First cylinder; 113. Pull fork; 114. Sliding rod; 115. Base rod; 116. Slide rail; 117. Sliding block; 118. Guide rod; 12. Plug-in member; 121. Plug-in block; 122. Plug-in interface; 123. Roller; 124. Sliding block; 125. First spring; 13. Support member; 131. Guide rod; 132. Second spring; 2. Card assembly; 21. Card block; 22. Card member; 221. Mounting hole; 222. Stop block; 223. Third spring; 23. Second cylinder body; 24. Restoration plate; 3. Shielding assembly; 31. Clamping plate; 32. Third cylinder body; 33. First connecting rod; 34. Second connecting rod; 35. Third connecting rod; 36. Fourth connecting rod; 37. Fifth connecting rod; 38. Fixed block; 39. Shielding plate. DETAILED DESCRIPTION
[0028] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.
[0029] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.
[0030] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.
[0031] The following is combined with Figure 1-9 This application is described in further detail.
[0032] The embodiment of the present application discloses a docking device for multi-AGV collaborative application.
[0033] Reference Figure 1 and Figure 2 The docking device for multi-AGV collaborative application includes at least one plug-in assembly 1, at least one card-connection assembly 2, and a shielding assembly 3. The plug-in assembly 1 and the card-connection assembly 2 are installed on the inner side walls of the corresponding sides of different AGVs, and the plug-in assembly 1 can be connected with the card-connection assembly 2 on another AGV. The shielding assembly 3 is installed on the inner side wall of the AGV and connected to the inner side wall of the AGV.
[0034] In the initial state, the AGV is in an independent operation state, the plug-in component 1 is stored inside the AGV, and the shielding component 3 shields and limits the plug-in component 1. When the AGV needs to be docked, the shielding component 3 acts to cancel the shielding limit state, so that the plug-in component 1 can be ejected from the inside of the AGV. The ejected plug-in component 1 is inserted into the card-connecting component 2 on another AGV to achieve the docking of the two AGVs, realize the rapid docking and separation between AGVs, and improve the working efficiency of AGVs.
[0035] Reference Figure 1 and Figure 2 The plug-in assembly 1 includes a driving member 11, a plug-in member 12, and at least one supporting member 13. The driving member 11 is mounted on the inner wall of the AGV, the plug-in member 12 is connected to the driving member 11, and the plug-in member 12 is used to be connected to the card assembly 2. The supporting member 13 is arranged on the plug-in member 12.
[0036] Reference Figure 2 and Figure 3, wherein the driving member 11 includes two guide frames 111, a first cylinder 112, two forks 113, a sliding rod 114, a base rod 115, a slide rail 116, a slider 117 and a guide rod 118. The two guide frames 111 are symmetrically and fixedly mounted on the inner wall of the AGV. The fixed end of the first cylinder 112 is rotatably mounted on the guide frame 111. The two forks 113 are symmetrically and rotatably mounted on the inner wall of the AGV, the movable end of the first cylinder 112 is rotatably connected to the forks 113, and the forks 113 are connected to the connector 12. The two ends of the sliding rod 114 are slidably mounted on the two guide frames 111, respectively, and the two forks 113 are slidably connected to the sliding rod 114. The base rod 115 is fixedly mounted on the sliding rod 114, the connector 12 is mounted on the base rod 115, and the guide rod 118 is penetrated and fixedly mounted on the base rod 115. The slide rail 116 is fixedly mounted on the inner wall of the AGV. The two sliders 117 are symmetrically and slidably mounted on the slide rail 116 , and one end of the slider 117 away from the slide rail 116 is slidably connected to the plug-in block 121 .
[0037] When AGV docking is required, the movable end of the first cylinder 112 is shortened, and the shortened movable end of the first cylinder 112 drives the fork to rotate toward the fixed end of the first cylinder 112. The rotation of the fork drives the sliding rod 114 to move on the guide frame 111 toward the inner wall of the AGV. The movement of the sliding rod 114 drives the base rod 115 to move toward the inner wall of the AGV. The movement of the base rod 115 drives the connector 12 to move, so that the connector 12 is inserted into the card connection assembly 2 of another AGV, thereby realizing rapid docking between AGVs.
[0038] On the contrary, when the AGV needs to be separated, the movable end of the first cylinder body 112 is extended, and the extension of the movable end of the first cylinder body 112 drives the fork to rotate in the direction away from the fixed end of the first cylinder body 112, and the rotation of the fork drives the sliding rod 114 to move on the guide frame 111 in the direction away from the inner wall of the AGV, and the movement of the sliding rod 114 drives the base rod 115 to move in the direction away from the inner wall of the AGV, and the movement of the base rod 115 drives the connector 12 to move, so that the connector 12 is away from the card connection component 2 of another AGV, so as to realize the rapid separation between AGVs.
[0039] Reference Figure 2 and Figure 3The plug-in connector 12 includes two plug-in blocks 121, two plug-in ports 122, a roller 123 and a first spring 125. A slide groove is provided on the upper surface of the two plug-in blocks 121, and a stepped hole is provided through the upper surface in the front-to-back direction. The diameter of the stepped hole on the side close to the inclined surface of the plug-in block 121 is larger than the diameter of the hole on the other side close to the plug-in block 121. The two plug-in blocks 121 are symmetrically and slidably mounted on the base rod 115. The side of the two plug-in blocks 121 away from each other is an inclined surface. A sliding block 124 is fixedly mounted on the plug-in block 121, and the sliding block 124 is sleeved and slidably mounted on the guide rod 118. The first spring 125 is sleeved on the guide rod 118, and one end of the first spring 125 is fixedly connected to the sliding block 124, and the other end is fixedly connected to the base rod 115. The roller 123 is rotatably mounted on the end of the plug-in block 121 away from the base rod 115. Two plug-in ports 122 are provided on the upper and lower end surfaces of the plug-in block 121 , and the cross-section of the plug-in port 122 is T-shaped.
[0040] When the AGVs are docked, under the action of the driving member 11, the plug-in block 121 moves toward the card connection component 2 of another AGV, and the plug-in block 121 abuts against the card connection component 2 of another AGV, and realizes stable structural card connection, thereby realizing rapid docking between AGVs.
[0041] Reference Figure 2 , Figure 3 and Fig. 9 , the number of the supporting members 13, which is not less than one group, includes a guide rod 131 and a second spring 132. The two ends of the guide rod 131 are respectively penetrated and slidably installed on the two plug-in blocks 121, and the two ends of the guide rod 131 are symmetrically provided with bosses with a diameter larger than the guide rod 131. The second spring 132 is sleeved on the guide rod 131, and the two ends of the second spring 132 are respectively abutted against the sides of the two plug-in blocks 121 that are close to each other, and the second spring 132 always applies a force to the two plug-in blocks 121 in a direction away from each other. The guide rod 131 and its end boss form a sliding fit with the stepped hole penetrating the plug-in block 121.
[0042] Under the action of the second spring 132 , the two plug-in blocks 121 always move away from each other, ensuring that the plug-in blocks 121 always abut against the clamping assembly 2 when entering the clamping assembly 2 of another AGV, thereby improving the stability of the docking of the two AGVs.
[0043] Reference Figure 1 and Figure 4The clamping assembly 2 includes two clamping blocks 21, not less than one clamping parts 22, a second cylinder body 23 and a recovery plate 24. The two clamping blocks 21 are symmetrically and fixedly installed on the inner wall of the AGV. The side where the two clamping blocks 21 are close to each other is an inclined surface, and the inclined surface of the clamping block 21 has the same inclination as the inclined surface of the plug-in block 121. The number of clamping parts 22 is the same as the number of plug-in ports 122 and the horizontal height is the same. The clamping parts 22 are installed on the upper and lower end surfaces of the clamping blocks 21. The fixed end of the second cylinder body 23 is fixedly installed in the middle of the thickness direction of the end of the clamping block 21 away from the AGV. One end of the recovery plate 24 is slidably installed in the middle of the thickness direction of the end of the clamping block 21 away from the AGV, and one side of the recovery plate 24 is hinged to the movable end of the second cylinder body 23.
[0044] Reference Figure 1 , Figure 4 , Figure 5 and Figure 6 , wherein the clamping member 22 includes a mounting hole 221, a limit block 222 and a third spring 223. The mounting hole 221 is provided on the upper and lower end surfaces of the clamping block 21, the cross section of the mounting hole 221 is T-shaped, and the mounting hole 221 has the same horizontal height as the plug-in port 122. The limit block 222 is slidably mounted in the mounting hole 221. The third spring 223 is inserted into the mounting hole 221, one end of the third spring 223 is fixedly connected to the bottom wall of the mounting hole 221, and the other end of the third spring 223 is fixedly connected to the limit block 222. The third spring 223 always applies a force to the limit block 222 in a direction away from the clamping block 21. When the roller 123 rolls on the clamping block 21, the limit block 222 will not contact the plug-in block 121 under the limitation of the length of the third spring 223.
[0045] When AGV docking is performed, the plug-in block 121 enters between the two clamping blocks 21, and the roller 123 rolls on the clamping block 21 until the roller 123 abuts against the recovery plate 24. When the roller 123 abuts against the recovery plate 24, the clamping block 21 abuts against the plug-in block 121. At the same time, under the action of the third spring 223, the limit block 222 enters the plug-in port 122 to fix the position of the plug-in block 121.
[0046] When the AGV is separated, the movable end of the second cylinder body 23 extends, and the movable end of the second cylinder body 23 extends, thereby pushing the recovery plate 24 to slide in the direction close to the roller 123, and the recovery plate 24 slides and thereby pushes the roller 123 to move in the direction away from the second cylinder body 23 until the roller 123 abuts against the inclined surface of the clamping block 21, and the limit block 222 separates from the plug-in port 122, and then the connector 12 moves in the direction away from the clamping block 21 with the cooperation of the driving member 11, thereby realizing the separation of the AGV.
[0047] Reference Figure 7 and Figure 8The shielding assembly 3 includes two card plates 31, a third cylinder 32, a first connecting rod 33, a second connecting rod 34, a third connecting rod 35, a fourth connecting rod 36, a fifth connecting rod 37, a fixed block 38 and a shielding plate 39. The two card plates 31 are symmetrically and fixedly mounted on the inner wall of the AGV, and an arc groove is provided on the card plate 31. The fixed end of the third cylinder 32 is rotatably mounted on the card plate 31. One end of the first connecting rod 33 is rotatably mounted on the inner wall of the AGV, and the movable end of the third cylinder 32 is rotatably mounted on the middle section of the first connecting rod 33. One end of the second connecting rod 34 is rotatably connected to the end of the first connecting rod 33 away from the inner wall of the AGV. One end of the third connecting rod 35 is rotatably mounted on the card plate 31, and one end of the second connecting rod 34 away from the first connecting rod 33 is rotatably mounted on the middle section of the third connecting rod 35. One end of the fourth connecting rod 36 is rotatably connected to the other end of the third connecting rod 35. One end of the fifth connecting rod 37 is rotatably mounted on the clamping plate 31, and the other end of the fifth connecting rod 37 is rotatably connected to the end of the fourth connecting rod 36 away from the third connecting rod 35. The fixing block 38 is fixedly mounted on the fifth connecting rod 37, and the fixing block 38 is slidably mounted in the arc groove. The two ends of the shielding plate 39 are fixedly connected to the two fourth connecting rods 36 respectively.
[0048] When AGV docking is required, the movable end of the third cylinder 32 is shortened, and the movable end of the third cylinder 32 is shortened to drive the first connecting rod 33 to rotate in the direction close to the card plate 31, and the first connecting rod 33 rotates to drive the second connecting rod 34 to move downward, and the second connecting rod 34 moves to drive the third connecting rod 35 to rotate in the direction close to the arc groove, and the third connecting rod 35 rotates to drive the fourth connecting rod 36 to move. Under the cooperation of the fixed block 38 and the arc groove, the movement of the fourth connecting rod 36 is limited by the fifth connecting rod 37. The movement of the fourth connecting rod 36 drives the shielding plate 39 to move, so that the shielding plate 39 moves from a vertical state to a horizontal state, which is convenient for the operation of the plug-in assembly 1.
[0049] When the clamping assembly 2 and the plug-in assembly 1 are in a separated state, the movable end of the third cylinder 32 extends, and the movable end of the third cylinder 32 extends, thereby driving the first connecting rod 33 to rotate in a direction away from the clamping plate 31, and the first connecting rod 33 rotates to drive the second connecting rod 34 to move upward, and the second connecting rod 34 moves to drive the third connecting rod 35 to rotate in a direction away from the arc groove, and the third connecting rod 35 rotates to drive the fourth connecting rod 36 to move. Under the cooperation of the fixed block 38 and the arc groove, the movement of the fourth connecting rod 36 is limited by the fifth connecting rod 37. The movement of the fourth connecting rod 36 drives the shielding plate 39 to move, so that the shielding plate 39 moves from a horizontal state to a vertical state, and the shielding plate 39 returns to a shielding state, protecting the internal components of the AGV and ensuring the cleanliness of the interior of the AGV.
[0050] The implementation principle of a docking device for multi-AGV collaborative application in the embodiment of the present application is as follows: in the initial state, the AGV is in an independent operation state, the plug-in component 1 is stored inside the AGV, and the shielding component 3 limits the plug-in component 1. When the AGV needs to be docked, the shielding component 3 cancels the shielding state, so that the plug-in component 1 can be popped out from the inside of the AGV, and the popped-out plug-in component 1 is inserted into the card connection component 2 on another AGV to achieve the docking of the two AGVs, realize the rapid docking and separation between the AGVs, and improve the working efficiency of the AGV.
[0051] 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 docking device for multi-AGV collaborative application, characterized in that: include: No less than one plug-in assembly (1), wherein the plug-in assembly (1) is mounted on the inner wall of the AGV; No less than one card connection assembly (2), the card connection assembly (2) being mounted on the inner wall of the AGV, the card connection assembly (2) being arranged at corresponding sides connected to the plug connection assembly (1); Wherein, the plug-in component (1) can be snap-connected with the snap-connecting component (2); The plug-in assembly (1) comprises: A driving member (11), wherein the driving member (11) is mounted on an inner wall of the AGV; A plug-in connector (12), the plug-in connector (12) being connected to the driving component (11), and the plug-in connector (12) being used for being engaged with the engaging assembly (2).
2. The docking device for multi-AGV collaborative application according to claim 1, characterized in that: The driving member (11) comprises: Two guide frames (111), the two guide frames (111) are symmetrically and fixedly mounted on the inner wall of the AGV; A first cylinder body (112), wherein a fixed end of the first cylinder body (112) is rotatably mounted on the guide frame (111); Two shift forks (113), the two shift forks (113) are symmetrically and rotatably mounted on the inner wall of the AGV, the movable end of the first cylinder (112) is rotatably connected to the shift forks (113), and the shift forks (113) are connected to the connector (12); A sliding rod (114), wherein both ends of the sliding rod (114) are respectively slidably mounted on the two guide frames (111), and the two shift forks (113) are slidably connected to the sliding rod (114); A base rod (115), the base rod (115) is fixedly mounted on the sliding rod (114), the plug-in component (12) is mounted on the base rod (115), and a guide rod (118) is passed through and fixedly mounted on the base rod (115).
3. The docking device for multi-AGV collaborative application according to claim 2, characterized in that: The plug connector (12) comprises: Two plug-in blocks (121), the upper surfaces of the two plug-in blocks (121) are provided with sliding grooves, and a stepped hole is provided through the plug-in blocks (121) in the front-to-back direction, the diameter of the stepped hole on the side close to the inclined surface of the plug-in block (121) is larger than the diameter of the hole on the other side close to the plug-in block (121), the two plug-in blocks (121) are symmetrically and slidably mounted on the base rod (115), the sides of the two plug-in blocks (121) that are away from each other are inclined, and a sliding block (124) is fixedly mounted on the plug-in block (121), and the sliding block (124) is sleeved and slidably mounted on the guide rod (118); a first spring (125), wherein the first spring (125) is sleeved on the guide rod (118), one end of the first spring (125) is fixedly connected to the sliding block (124), and the other end of the first spring (125) is fixedly connected to the base rod (115); Two plug interfaces (122), the two plug interfaces (122) being arranged on the upper and lower end surfaces of the plug block (121).
4. The docking device for multi-AGV collaborative application according to claim 3, characterized in that: The driving member (11) further comprises: A slide rail (116), wherein the slide rail (116) is fixedly mounted on the inner wall of the AGV; Two sliders (117), the two sliders (117) are symmetrically and slidably mounted on the slide rail (116), and one end of the slider (117) away from the slide rail (116) is slidably connected to the plug-in block (121).
5. The docking device for multi-AGV collaborative application according to claim 3, characterized in that: The plug-in assembly (1) further comprises at least one set of support members (13), wherein the at least one set of support members (13) are arranged between the two plug-in blocks (121), and the at least one set of support members (13) each comprises: A guide rod (131), wherein both ends of the guide rod (131) are respectively passed through and slidably mounted on the two plug-in blocks (121), and bosses having a diameter greater than that of the guide rod (131) are symmetrically provided at both ends of the guide rod (131); A second spring (132), wherein the second spring (132) is sleeved on the guide rod (131), and two ends of the second spring (132) are respectively in contact with one side of the two plug-in blocks (121) that are close to each other.
6. The docking device for multi-AGV collaborative application according to claim 3, characterized in that: The clamping assembly (2) comprises: Two clamping blocks (21), the two clamping blocks (21) are symmetrically and fixedly mounted on the inner wall of the AGV, the sides of the two clamping blocks (21) close to each other are inclined surfaces, and the inclined surfaces of the clamping blocks (21) have the same inclination as the inclined surfaces of the plug-in blocks (121); There is at least one card connector (22), the number of the card connector (22) being the same as the number of the plug interfaces (122) and the horizontal height being the same, and the card connector (22) being mounted on the upper and lower end surfaces of the card connector block (21).
7. The docking device for multi-AGV collaborative application according to claim 6, characterized in that: The clamping member (22) comprises: A mounting hole (221), the mounting hole (221) being provided on the upper and lower end surfaces of the clamping block (21), and the mounting hole (221) and the plug interface (122) being at the same level; a limit block (222), the limit block (222) being slidably mounted in the mounting hole (221); A third spring (223), the third spring (223) being inserted into the mounting hole (221), one end of the third spring (223) being fixedly connected to the bottom wall of the mounting hole (221), and the other end of the third spring (223) being fixedly connected to the limit block (222).
8. The docking device for multi-AGV collaborative application according to claim 3, characterized in that: A roller (123) is rotatably mounted on one end of the plug-in block (121) away from the base rod (115).
9. The docking device for multi-AGV collaborative application according to claim 6, characterized in that: The clamping assembly (2) further comprises: A second cylinder body (23), wherein a fixed end of the second cylinder body (23) is fixedly mounted at a middle portion in a thickness direction of an end of the clamping block (21) away from the AGV; A recovery plate (24), one end of which is slidably mounted on the middle portion of the end of the clamping block (21) away from the AGV in the thickness direction, and one side surface of the recovery plate (24) is hinged to the movable end of the second cylinder body (23).
10. The docking device for multi-AGV collaborative application according to claim 1, characterized in that: It also includes a shielding component (3), wherein the shielding component (3) includes: Two card plates (31), the two card plates (31) are symmetrically and fixedly mounted on the inner wall of the AGV, and the card plates (31) are provided with arc grooves; A third cylinder body (32), the fixed end of the third cylinder body (32) being rotatably mounted on the clamping plate (31); A first connecting rod (33), one end of the first connecting rod (33) being rotatably mounted on the inner wall of the AGV, and a movable end of the third cylinder (32) being rotatably mounted on the middle section of the first connecting rod (33); A second connecting rod (34), one end of the second connecting rod (34) being rotatably connected to an end of the first connecting rod (33) away from the inner wall of the AGV; a third connecting rod (35), one end of the third connecting rod (35) being rotatably mounted on the clamping plate (31), and one end of the second connecting rod (34) being away from the first connecting rod (33) being rotatably mounted on the middle section of the third connecting rod (35); A fourth connecting rod (36): one end of the fourth connecting rod (36) is rotatably connected to the other end of the third connecting rod (35); a fifth connecting rod (37), one end of the fifth connecting rod (37) being rotatably mounted on the clamping plate (31), and the other end of the fifth connecting rod (37) being rotatably connected to an end of the fourth connecting rod (36) away from the third connecting rod (35); a fixed block (38), the fixed block (38) being fixedly mounted on the fifth connecting rod (37), the fixed block (38) being slidably mounted in the arc-shaped groove; A shielding plate (39), wherein two ends of the shielding plate (39) are respectively fixedly connected to the two fourth connecting rods (36).