Multi-AGV platform butt joint locking mechanism

Abstract

The invention provides a multi-AGV platform butt joint locking mechanism which comprises guiding and positioning assemblies and locking assemblies, the guiding and positioning assemblies are arranged on the two sides of the locking assemblies, a plurality of multi-AGV platform butt joint locking mechanisms are arranged at the two ends of AGV platforms, and the number and the position of the multi-AGV platform butt joint locking mechanisms on the butt joint end faces of the two AGV platforms correspond to each other. According to the multi-AGV platform butt joint locking mechanism, under the action of the guiding, positioning and locking structures, the two AGV platforms are reliably, firmly and fixedly connected into a set of AGV platforms, and the poses of the two AGV platforms do not change in the moving process.

Description

Technical Field

[0001] The invention belongs to the field of multi-AGV platform transportation, and in particular relates to a multi-AGV platform docking and locking mechanism. Background Art

[0002] AGV platforms are increasingly being used for omnidirectional transportation indoors and outdoors. In some application scenarios, two or more single AGV platforms need to be linked to obtain a multi-AGV combination AGV assembly, so that multiple single AGV vehicles can move synchronously to meet usage requirements. The docking and locking structure used for the linkage of multiple AGV platforms is a non-standard structure. In order to ensure the linkage effect of multiple AGV platforms, the docking and locking mechanism of the linkage of multiple AGV platforms has been innovated.

[0003] Patent CN112549876A provides a patent for a dual-vehicle linkage connection mechanism and an AGV vehicle, wherein the dual-vehicle linkage connection mechanism includes a male connection seat and a female connection seat used in conjunction with each other, the male connection seat and the female connection seat are respectively connected to two single AGVs, the male connection seat includes a first mounting frame, an insert block is installed on the end face of the first mounting frame, the female connection seat includes a second mounting frame, a slot is arranged on the end face of the second mounting frame, the insert block is inserted into the slot and locked by a locking mechanism.

[0004] Patent CN218805026U provides a patent for a double-car splicing mechanism and an AGV, wherein the double-car splicing mechanism includes a groove structure located at one end of the first AGV and an insert block structure located at one end of the second AGV, the groove structure and the insert block structure are used in conjunction with each other, and when connected, the insert block structure is inserted into the groove structure, and the two are hingedly connected; the groove structure includes a groove located at one end of the first AGV body, and an installation groove is respectively provided on both sides of the inner end of the groove, and a U-shaped groove plate is provided on the outer side of each installation groove, and an upwardly open U-shaped groove is provided on the U-shaped groove plate, and the upper end of the installation groove is covered by a pressing piece; the present application provides an articulated splicing structure, and the two cars can rotate slightly around the hinge using this structure.

[0005] As mentioned above, the shortcomings of the prior art are:

[0006] 1. The boundaries between the guiding, positioning and locking functions of the existing locking mechanism are not clear. The positioning structure cannot achieve multi-degree-of-freedom guiding and precise positioning. In the process, positioning is achieved through the locking pin. In addition to the locking function, the locking pin bears additional force and is easy to deform. When locking and separating, the locking pin has a large movement error.

[0007] 2. The existing locking mechanism's self-guiding mechanism can only achieve guidance in a single direction and cannot accurately align the locking hole. The locking pin is then moved and locked through the locking pin and the locking hole. Therefore, the locking pin is subjected to a larger axial force in a larger direction after locking. When the two vehicles are separated, the locking pin cannot be accurately separated.

[0008] 3. The locking function of the existing locking mechanism can only achieve automatic locking in the horizontal direction, and the other direction needs to be locked manually. When locking and separating, the locking pin needs to be inserted into two sets of holes at the same time, and the two sets of holes are respectively set on two AGV platforms. The guide mechanism only limits the freedom of left and right movement, and the freedom of up and down displacement is not restricted. The centering of the horizontal guide locking hole cannot be guaranteed, and the centering of the vertical hand plug hole cannot be guaranteed. Manual insertion cannot guarantee smooth insertion.

[0009] 4. The existing locking mechanism uses two sets of laser sensors and reflectors. The two sets of reflectors are only used to judge the distance and height direction difference between the two vehicles, and the detection of the connection end faces of the two vehicles is incomplete.

[0010] 5. When two vehicles are connected, in addition to the degree of freedom in the axial direction, there are 5 degrees of freedom deviation between the two vehicles. At this time, the deviation of the two vehicles in the direction of the 5 degrees of freedom needs to be eliminated before guiding them to connect. The existing locking mechanism only obtains the deviation in the height direction of one side of the vehicle by measurement. When the detection is incomplete or inaccurate, the locking mechanism of the two vehicles is subjected to a large lateral force.

[0011] 6. When the locking pin of the existing locking mechanism is locked, the guiding and locking are achieved through the cooperation between the locking pin and the locking hole. When the gap is large, the guiding locking accuracy is not high. If the gap is small, the docking accuracy of the locking shaft and the locking hole is high. At the same time, due to the increase in friction between the locking shaft and the locking hole, the gap becomes larger, the accuracy is reduced, the manual latch cannot be inserted, and multi-degree-of-freedom locking cannot be achieved.

[0012] 7. The existing locking mechanism is set as two structures of "male head" and "female head", which are installed on the two AGVs to be docked respectively. That is, one end of the docking side needs a male head and the other end needs a female head. The male and female heads need to appear in pairs, and docking at any end cannot be achieved.

[0013] 8. The existing locking mechanism is set up by manually inserting the vertical locking pin, which increases the labor intensity. When the two vehicles are separated, the connection stiffness between the two vehicles is passed through the intermediate locking mechanism. The locking mechanism cannot guarantee reliable high precision. When the vertical locking pin is manually separated, the locking pin is subjected to a large lateral force and cannot be separated quickly. Summary of the invention

[0014] In view of this, the present invention aims to propose a multi-AGV platform docking and locking mechanism to solve the deficiencies in the prior art.

[0015] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0016] The multi-AGV platform docking locking mechanism includes a guide positioning component and a locking component. The guide positioning component is arranged on both sides of the locking component. A plurality of multi-AGV platform docking locking mechanisms are arranged at both ends of the AGV platform, and the number and position of the multi-AGV platform docking locking mechanisms on the docking end faces of the two AGV platforms correspond to each other.

[0017] The guide positioning assembly includes a first guide positioning mounting seat, a second guide positioning mounting seat, a guide positioning block assembly, and a guide positioning slot assembly. The first guide positioning mounting seat is arranged on the docking end face of the AGV platform, and the second guide positioning mounting seat is arranged on the docking end face of another AGV platform. The guide positioning block assembly is detachably arranged on the first guide positioning mounting seat or the second guide positioning mounting seat, and the guide positioning slot assembly is detachably arranged on the first guide positioning mounting seat or the second guide positioning mounting seat. The guide positioning block assembly and the guide positioning slot assembly cooperate to achieve positioning.

[0018] Further, the guide positioning block assembly includes two vertical guide positioning block assemblies and two horizontal guide positioning block assemblies, the two vertical guide positioning block assemblies are arranged in parallel on one side of the first guide positioning mounting seat or the second guide positioning mounting seat in the vertical direction, and the two horizontal guide positioning block assemblies are arranged in parallel on the other side of the first guide positioning mounting seat or the second guide positioning mounting seat in the vertical direction;

[0019] The vertical guide positioning block assembly comprises a vertical "V"-shaped guide positioning block, a vertical guide bearing mounting rod, and a vertical guide bearing. One end of the vertical "V"-shaped guide positioning block is vertically arranged on the first guide positioning mounting seat or the second guide positioning mounting seat. The other end of the vertical "V"-shaped guide positioning block is provided with a first groove. The vertical guide bearing is arranged in the first groove through the vertical guide bearing mounting rod.

[0020] The horizontal guide positioning block assembly includes a horizontal "V"-shaped guide positioning block, a horizontal guide bearing mounting rod, and a horizontal guide bearing. One end of the horizontal "V"-shaped guide positioning block is horizontally arranged on the first guide positioning mounting seat or the second guide positioning mounting seat, and the other end of the horizontal "V"-shaped guide positioning block is provided with a second groove. The horizontal guide bearing is arranged in the second groove through the horizontal guide bearing mounting rod.

[0021] Further, the guide positioning groove assembly includes two vertical guide positioning groove assemblies and two horizontal guide positioning groove assemblies, the two vertical guide positioning groove assemblies are arranged in parallel along the vertical direction on one side of the first guide positioning mounting seat or the second guide positioning mounting seat, and the two horizontal guide positioning groove assemblies are arranged in parallel along the vertical direction on the other side of the first guide positioning mounting seat or the second guide positioning mounting seat;

[0022] The vertical guide positioning groove assembly includes a vertical "V"-shaped groove, one end of which is vertically arranged on the first guide positioning mounting seat or the second guide positioning mounting seat, and the other end of the vertical "V"-shaped groove is provided with a third groove capable of accommodating the vertical guide positioning block assembly;

[0023] The horizontal guide positioning groove assembly includes a horizontal "V"-shaped groove, one end of which is horizontally arranged on the first guide positioning mounting seat or the second guide positioning mounting seat, and the other end of the horizontal "V"-shaped groove is provided with a fourth groove capable of accommodating the horizontal guide positioning block assembly.

[0024] The third groove and the fourth groove are provided with transition curved surfaces corresponding to the vertical guide bearing and the horizontal guide bearing, which are used to avoid the vertical guide bearing and the horizontal guide bearing and do not contact the vertical guide bearing and the horizontal guide bearing.

[0025] The number and position of the vertical guide positioning block assembly and the vertical guide positioning slot assembly, and the horizontal guide positioning block assembly and the horizontal guide positioning slot assembly correspond respectively, which can realize the guide positioning docking and is used for the docking of two AGV platforms.

[0026] Furthermore, the first guide positioning mounting seat and the second guide positioning mounting seat are both provided with a locking assembly, and the locking assembly is arranged between the two vertical guide positioning block assemblies and the two horizontal guide positioning block assemblies or between the two vertical guide positioning slot assemblies and the two horizontal guide positioning slot assemblies;

[0027] The locking is achieved by the contact and fit of the locking assemblies on the first guide positioning mounting seat and the second guide positioning mounting seat.

[0028] Furthermore, the locking assembly includes a locking hook assembly and a power assembly, the locking hook assembly is arranged on the side where the first guide positioning mounting seat and the second guide positioning mounting seat are close to each other, the power assembly is arranged on the side where the first guide positioning mounting seat and the second guide positioning mounting seat are away from each other, and the power assembly is arranged inside the AGV platform.

[0029] Further, the locking hook assembly includes a first locking hook mounting seat, a second locking hook mounting seat, a third locking hook mounting seat, a first locking hook, a second locking hook, a first locking hook rotating shaft, a second locking hook rotating shaft, and a locking hook connecting rod;

[0030] The first locking hook mounting seat, the second locking hook mounting seat, and the third locking hook mounting seat are equidistantly arranged on the first guide positioning mounting seat and the second guide positioning mounting seat, and the first locking hook mounting seat, the second locking hook mounting seat, and the third locking hook mounting seat are each provided with a first rotating hole corresponding to each other on the top, and the first locking hook mounting seat, the second locking hook mounting seat, and the third locking hook mounting seat are each provided with a second rotating hole corresponding to each other on the bottom;

[0031] The spacing between the first locking hook mounting seat, the second locking hook mounting seat, and the third locking hook mounting seat is greater than the thickness of the locking hook.

[0032] The first locking hook rotating shaft is arranged in the first rotating hole, and first rotating shaft mounting seats are arranged at both ends of the first locking hook rotating shaft, and the first locking hook rotating shaft is fixedly connected with the first locking hook mounting seat and the third locking hook mounting seat through the first rotating shaft mounting seat;

[0033] The second locking hook rotating shaft is arranged in the second rotating hole, and second rotating shaft mounting seats are arranged at both ends of the second locking hook rotating shaft, and the second locking hook rotating shaft is fixedly connected with the first locking hook mounting seat and the third locking hook mounting seat through the second rotating shaft mounting seat;

[0034] The first locking hook is rotatably arranged on the first locking hook rotating shaft, the second locking hook is rotatably arranged on the second locking hook rotating shaft, and the first locking hook and the second locking hook are arranged between the first locking hook mounting seat and the second locking hook mounting seat;

[0035] The first locking hook and the second locking hook are connected to each other at one side close to the power assembly through a locking hook connecting rod.

[0036] Furthermore, a first through hole corresponding to the first locking hook rotation axis is provided in the middle of the first locking hook, a second through hole is provided on a side of the first locking hook close to the power assembly, and a first hook groove is provided below a side of the first locking hook away from the power assembly;

[0037] A third through hole corresponding to the second locking hook rotation axis is provided in the middle of the second locking hook, a fourth through hole is provided on a side of the second locking hook close to the power assembly, and a second hook groove is provided below a side of the second locking hook away from the power assembly;

[0038] A connecting rod shaft is provided at both ends of the locking hook connecting rod, the connecting rod shaft is arranged in the second through hole and the fourth through hole, and the first locking hook and the second locking hook are rotatably arranged at both ends of the locking hook connecting rod through the connecting rod shaft;

[0039] The first hook groove and the second hook groove are respectively engaged with the first locking hook rotating shaft and the second locking hook rotating shaft on the docking AGV platform.

[0040] When two AGV platforms are docked with each other, the first locking hook and the second locking hook on the AGV platform both contact and cooperate with the vacant first locking hook rotating shaft and the second locking hook rotating shaft on the second locking hook mounting seat and the third locking hook mounting seat on the docked AGV platform to achieve locking.

[0041] Furthermore, a locking hook copper sleeve is provided between the first locking hook rotating shaft and the first through hole and between the second locking hook rotating shaft and the third through hole. The locking hook copper sleeve is used to reduce the wear caused by the rotation and ensure the accuracy.

[0042] Furthermore, the power assembly includes a power assembly mounting seat, a power assembly rotating shaft, a power assembly adapter plate, a power device, and a connecting plate. The power assembly mounting seat is arranged below a side where the first guide positioning mounting seat and the second guide positioning mounting seat are away from each other. The power assembly adapter plate is rotatably connected to the power assembly mounting seat through the power assembly rotating shaft. The mounting end of the power device is fixedly arranged on one side of the power assembly adapter plate. The output end of the power device is rotatably connected to one end of the connecting plate, and the other end of the connecting plate is fixedly connected to the middle part of the locking hook rod.

[0043] The first locking hook, the second locking hook, the locking hook mounting seat, and the locking hook connecting rod form a parallelogram structure. By controlling the action of the locking hook connecting rod, the first locking hook and the second locking hook can be rotated around the first locking hook rotating shaft and the second locking hook rotating shaft, so that the one-way hooks at the front ends of the first locking hook and the second locking hook can swing up and down, so that the first locking hook and the second locking hook on one side are in contact and cooperate with the first locking hook rotating shaft and the second locking hook rotating shaft of the docking surface to achieve locking.

[0044] The parallelogram rod length condition satisfies the "dead point" working state, that is, when the locking hook is locked, the locking hook connecting rod coincides with the power device, ensuring the mechanical stability of the locking mechanism.

[0045] The power device adopts a self-locking structure, which ensures the stability of the locked state.

[0046] Preferably, the power device adopts an electric cylinder or a hydraulic cylinder.

[0047] Furthermore, the first guide positioning mounting seat and the second guide positioning mounting seat are both provided with a locking hook detection proximity switch, the locking hook detection proximity switch is arranged between the second locking hook mounting seat and the third locking hook mounting seat, and the position of the locking hook detection proximity switch corresponds to the position of the first locking hook on the docking AGV platform.

[0048] The locking hook is detected by the proximity switch to detect whether the locking hook is in place.

[0049] Compared with the prior art, the multi-AGV platform docking and locking mechanism of the present invention has the following advantages:

[0050] (1) The multi-AGV platform docking and locking mechanism of the present invention reliably and firmly connects two AGV platforms into a group of AGV platforms through the guidance, positioning and locking structures, and the positions of the two AGV platforms do not change during the movement;

[0051] (2) The multi-AGV platform docking and locking mechanism described in the present invention includes independent guiding, positioning, and locking structures. The docking and locking mechanism is a single-group structure with "male head" and "female head" properties, that is, it can dock with its own mechanism. Only by changing the position arrangement of the positioning and guiding structure, any docking of any end can be achieved, and then any AGV platform can be docked with another AGV platform, which has high versatility;

[0052] (3) The multi-AGV platform docking locking mechanism described in the present invention can be automatically or manually assisted to complete the action, avoiding the manual insertion of the locking pin and reducing the labor intensity;

[0053] (4) The multi-AGV platform docking locking mechanism described in the present invention is provided with independent guiding, positioning and locking structures. The guiding and positioning mechanisms can be replaced independently. The guiding mechanism uses bearings and V-shaped guide grooves. When guiding, rolling friction replaces sliding friction, thereby reducing mechanical stagnation, mechanical jamming and mechanical loss. At the same time, after the guiding is completed, positioning is achieved through the V-shaped surface, and the guiding mechanism is disengaged from work. Through the horizontally arranged and longitudinally arranged positioning structures, the 5-degree-of-freedom guiding positioning of the dual AGV platforms that need to be docked can be achieved. At the same time, through the dual-car feeding direction, the 6-degree-of-freedom restriction is finally achieved to achieve precise positioning. After the positioning is completed, the clamping is achieved through the double-sided locking hooks. The locking hooks only provide the clamping force of the positioning mechanism and do not bear additional force. The structure is simple, and the clamping is achieved through the dead point structure of the connecting rod mechanism. The structure is reliable and the precision is high.

[0054] (5) The multi-AGV platform docking locking mechanism of the present invention simultaneously arranges a horizontal V-shaped positioning guide block, a V-shaped positioning guide groove and a vertical V-shaped positioning guide block, and the docking structure of the V-shaped positioning guide groove is a docking surface. The bearing and the V-shaped surface are used for guidance, and face-to-face contact is used for docking. The action of hole centering is reduced in structure, and the requirements for the centering accuracy of the mechanism are reduced. After docking, the restriction of 6 degrees of freedom can be completed;

[0055] (6) The multi-AGV platform docking locking mechanism described in the present invention realizes the locking of the guide mechanism through the locking hook, that is, the overall completion of "the guide positioning block limits the degree of freedom + the locking hook provides the clamping force of the positioning guide block". The guide mechanism is "V"-shaped to facilitate the guide positioning and separation. At the same time, the locking hook only provides the clamping force. The double locking hook and the connecting rod form a quadrilateral. When the power device and the locking hook connecting rod are working, the locking hook connecting rod coincides with the power device, that is, it is located at the dead point of the structure. The "dead point" position of the four-bar linkage is used to provide a larger locking force and prevent the locking hook from being subjected to additional lateral force.

[0056] (7) The multi-AGV platform docking locking mechanism of the present invention achieves docking through V-blocks and V-grooves. A smaller gap can be selected in the structure, and the structure is simple. At the same time, the two guide structures are separated and guided by the cooperation of the bearing and the groove surface, changing the sliding friction into rolling friction, and can be locked with multiple degrees of freedom;

[0057] (8) When the locking hook of the multi-AGV platform docking locking mechanism of the present invention is locked and separated, the positioning mechanism is in a working state, the dual AGV platforms are in a completely aligned state, the locking hooks are smoothly docked and separated, and fast locking and separation can be achieved;

[0058] (9) The multi-AGV platform docking locking mechanism of the present invention comprises two sets of identical locking hooks, both of which can achieve hooking. Therefore, when in use, there is no need to distinguish between "male head" and "female head", and docking at any end can be achieved;

[0059] (10) The two groups of AGV platforms of the multi-AGV platform docking locking mechanism described in the present invention are both provided with locking devices and locking hooks. The two groups of platforms can be locked at the same time, or only one of the locking devices can be used for locking, and both can achieve the locking effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0061] Figure 1 It is a schematic diagram of the installation of the multi-AGV platform docking and locking mechanism on the AGV platform according to an embodiment of the present invention;

[0062] Figure 2 This is a schematic diagram of a multi-AGV platform docking and locking mechanism according to an embodiment of the present invention;

[0063] Figure 3 It is a schematic diagram of the guide positioning assembly of the multi-AGV platform docking locking mechanism according to an embodiment of the present invention;

[0064] Figure 4It is a schematic diagram of the guide positioning block assembly of the multi-AGV platform docking locking mechanism according to an embodiment of the present invention;

[0065] Figure 5 Schematic diagram of the locking assembly of the multi-AGV platform docking locking mechanism according to an embodiment of the present invention Figure 1 ;

[0066] Figure 6 It is a cross-sectional schematic diagram of a locking assembly of a multi-AGV platform docking locking mechanism according to an embodiment of the present invention;

[0067] Figure 7 Schematic diagram of the locking assembly of the multi-AGV platform docking locking mechanism according to an embodiment of the present invention Figure 2 ;

[0068] Figure 8 It is a schematic diagram of the guiding operation of the guiding and positioning assembly of the multi-AGV platform docking and locking mechanism according to an embodiment of the present invention;

[0069] Fig. 9 It is a schematic diagram of the positioning operation of the guide positioning assembly of the multi-AGV platform docking locking mechanism according to an embodiment of the present invention;

[0070] Fig.10 It is a working schematic diagram of the locking assembly of the multi-AGV platform docking locking mechanism according to an embodiment of the present invention;

[0071] Fig.11 It is a schematic diagram of the guiding, positioning and locking process of the multi-AGV platform docking and locking mechanism according to an embodiment of the present invention.

[0072] Description of reference numerals:

[0073] 1. AGV platform; 2. Guide and positioning assembly; 2011. First guide and positioning mounting seat; 2012. Second guide and positioning mounting seat; 202. Vertical "V"-shaped guide positioning block; 203. Vertical guide bearing mounting rod; 204. Vertical guide bearing; 205. Horizontal "V"-shaped guide positioning block; 206. Horizontal guide bearing mounting rod; 207. Horizontal guide bearing; 208. Horizontal "V"-shaped groove; 209. Vertical "V"-shaped groove; 3. Locking assembly; 3011. First locking hook mounting seat; 3012. Second locking hook mounting seat; 3013. Third locking hook Hook mounting seat; 3021, first locking hook rotating shaft; 3022, second locking hook rotating shaft; 3031, first locking hook; 3032, second locking hook; 304, locking hook copper sleeve; 305, connecting rod shaft; 306, locking hook connecting rod; 307, power component rotating shaft; 308, power component mounting seat; 309, power device; 310, power component adapter plate; 3111, first rotating shaft mounting seat; 3112, second rotating shaft mounting seat; 312, locking hook detection proximity switch; 3131, first hook groove; 3132, second hook groove; 314, connecting plate. DETAILED DESCRIPTION

[0074] 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.

[0075] 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.

[0076] 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.

[0077] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0078] like Figures 1 to 11 As shown, the multi-AGV platform docking locking mechanism includes a guide positioning component 2 and a locking component 3. The guide positioning component 2 is arranged on both sides of the locking component 3. A plurality of multi-AGV platform docking locking mechanisms are arranged at both ends of the AGV platform 1, and the number and position of the multi-AGV platform docking locking mechanisms on the docking end faces of the two AGV platforms 1 correspond to each other.

[0079] The guide positioning assembly 2 includes a first guide positioning mounting seat 2011, a second guide positioning mounting seat 2022, a guide positioning block assembly, and a guide positioning slot assembly. The first guide positioning mounting seat 2011 is arranged on the docking end face of the AGV platform 1, and the second guide positioning mounting seat 2022 is arranged on the docking end face of another AGV platform 1. The guide positioning block assembly can be detachably arranged on the first guide positioning mounting seat 2011 or the second guide positioning mounting seat 2022. The guide positioning slot assembly can be detachably arranged on the first guide positioning mounting seat 2011 or the second guide positioning mounting seat 2022. The guide positioning block assembly and the guide positioning slot assembly cooperate to achieve positioning.

[0080] The guide positioning block assembly 2 includes two vertical guide positioning block assemblies and two horizontal guide positioning block assemblies. The two vertical guide positioning block assemblies are arranged in parallel on one side of the first guide positioning mounting seat 2011 or the second guide positioning mounting seat 2022 in the vertical direction, and the two horizontal guide positioning block assemblies are arranged in parallel on the other side of the first guide positioning mounting seat 2011 or the second guide positioning mounting seat 2022 in the vertical direction.

[0081] The vertical guide positioning block assembly includes a vertical "V"-shaped guide positioning block 202, a vertical guide bearing mounting rod 203, and a vertical guide bearing 204. One end of the vertical "V"-shaped guide positioning block 202 is vertically arranged on the first guide positioning mounting seat 2011 or the second guide positioning mounting seat 2022. The other end of the vertical "V"-shaped guide positioning block 202 is provided with a first groove. The vertical guide bearing 204 is arranged in the first groove through the vertical guide bearing mounting rod 203.

[0082] The horizontal guide positioning block assembly includes a horizontal "V"-shaped guide positioning block 205, a horizontal guide bearing mounting rod 206, and a horizontal guide bearing 207. One end of the horizontal "V"-shaped guide positioning block 205 is horizontally arranged on the first guide positioning mounting seat 2011 or the second guide positioning mounting seat 2022, and the other end of the horizontal "V"-shaped guide positioning block 205 is provided with a second groove, and the horizontal guide bearing 207 is arranged in the second groove through the horizontal guide bearing mounting rod 206.

[0083] The guide positioning groove assembly includes two vertical guide positioning groove assemblies and two horizontal guide positioning groove assemblies. The two vertical guide positioning groove assemblies are arranged in parallel on one side of the first guide positioning mounting seat 2011 or the second guide positioning mounting seat 2022 in the vertical direction, and the two horizontal guide positioning groove assemblies are arranged in parallel on the other side of the first guide positioning mounting seat 2011 or the second guide positioning mounting seat 2022 in the vertical direction.

[0084] The vertical guide positioning groove assembly includes a vertical "V"-shaped groove 209, one end of the vertical "V"-shaped groove 209 is vertically arranged on the first guide positioning mounting seat 2011 or the second guide positioning mounting seat 2022, and the other end of the vertical "V"-shaped groove 209 is provided with a third groove capable of accommodating the vertical guide positioning block assembly;

[0085] The horizontal guide positioning groove assembly includes a horizontal "V"-shaped groove 208, one end of the horizontal "V"-shaped groove 208 is horizontally arranged on the first guide positioning mounting seat 2011 or the second guide positioning mounting seat 2022, and the other end of the horizontal "V"-shaped groove 208 is provided with a fourth groove capable of accommodating the horizontal guide positioning block assembly.

[0086] The third groove and the fourth groove are provided with transition curved surfaces corresponding to the vertical guide bearing 204 and the horizontal guide bearing 207 , so as to avoid the vertical guide bearing 204 and the horizontal guide bearing 207 and not contact the vertical guide bearing 204 and the horizontal guide bearing 207 .

[0087] The number and position of the vertical guide positioning block assembly and the vertical guide positioning slot assembly, and the horizontal guide positioning block assembly and the horizontal guide positioning slot assembly respectively correspond to each other, and can realize the guide positioning docking, which is used for the docking of two AGV platforms 1.

[0088] The first guide positioning mounting seat 2011 and the second guide positioning mounting seat 2022 are both provided with a locking assembly 3, and the locking assembly 3 is arranged between two vertical guide positioning block assemblies and two horizontal guide positioning block assemblies or between two vertical guide positioning groove assemblies and two horizontal guide positioning groove assemblies;

[0089] The locking assembly 3 on the first guide positioning mounting seat 2011 and the second guide positioning mounting seat 2022 are in contact and matched to achieve locking.

[0090] The locking assembly 3 includes a locking hook assembly and a power assembly. The locking hook assembly is arranged on a side where the first guide positioning mounting seat 2011 and the second guide positioning mounting seat 2022 are close to each other, and the power assembly is arranged on a side where the first guide positioning mounting seat 2011 and the second guide positioning mounting seat 2022 are far away from each other, and the power assembly is arranged inside the AGV platform 1.

[0091] The locking hook assembly includes a first locking hook mounting seat 3011, a second locking hook mounting seat 3012, a third locking hook mounting seat 3013, a first locking hook 3031, a second locking hook 3032, a first locking hook rotating shaft 3021, a second locking hook rotating shaft 3022, and a locking hook connecting rod 306;

[0092] The first locking hook mounting seat 3011, the second locking hook mounting seat 3012, and the third locking hook mounting seat 3013 are equidistantly arranged on the first guide positioning mounting seat 2011 and the second guide positioning mounting seat 2022, and the first locking hook mounting seat 3011, the second locking hook mounting seat 3012, and the third locking hook mounting seat 3013 are each provided with a first rotating hole corresponding to each other on the top, and the first locking hook mounting seat 3011, the second locking hook mounting seat 3012, and the third locking hook mounting seat 3013 are each provided with a second rotating hole corresponding to each other on the bottom;

[0093] The distances among the first locking hook mounting seat 3011 , the second locking hook mounting seat 3012 , and the third locking hook mounting seat 3013 are greater than the thickness of the locking hook.

[0094] The first locking hook rotating shaft 3021 is arranged in the first rotating hole, and both ends of the first locking hook rotating shaft 3021 are provided with first rotating shaft mounting seats 3111, and the first locking hook rotating shaft 3021 is fixedly connected to the first locking hook mounting seat 3011 and the third locking hook mounting seat 3013 through the first rotating shaft mounting seat 3111;

[0095] The second locking hook rotating shaft 3022 is arranged in the second rotating hole, and both ends of the second locking hook rotating shaft 3022 are provided with second rotating shaft mounting seats 3112, and the second locking hook rotating shaft 3022 is fixedly connected to the first locking hook mounting seat 3011 and the third locking hook mounting seat 3013 through the second rotating shaft mounting seats 3112;

[0096] The first locking hook 3031 is rotatably disposed on the first locking hook rotating shaft 3021, the second locking hook 3032 is rotatably disposed on the second locking hook rotating shaft 3022, and the first locking hook 3031 and the second locking hook 3032 are disposed between the first locking hook mounting seat 3011 and the second locking hook mounting seat 3012;

[0097] The first locking hook 3031 and the second locking hook 3032 are connected at one side close to the power assembly through a locking hook connecting rod 306 .

[0098] A first through hole corresponding to the first locking hook rotating shaft 3021 is provided in the middle of the first locking hook 3031, a second through hole is provided on a side of the first locking hook 3031 close to the power assembly, and a first hook groove 3131 is provided below a side of the first locking hook 3031 away from the power assembly;

[0099] A third through hole corresponding to the second locking hook rotating shaft 3022 is provided in the middle of the second locking hook 3032, a fourth through hole is provided on a side of the second locking hook 3032 close to the power assembly, and a second hook groove 3132 is provided below a side of the second locking hook 3032 away from the power assembly;

[0100] The two ends of the locking hook connecting rod 306 are provided with connecting rod shafts 305, and the connecting rod shafts 305 are arranged in the second through hole and the fourth through hole. The first locking hook 3031 and the second locking hook 3032 are rotatably arranged at the two ends of the locking hook connecting rod 306 through the connecting rod shafts 305;

[0101] The first hook groove 3131 and the second hook groove 3132 are respectively engaged with the first locking hook rotating shaft 3021 and the second locking hook rotating shaft 3022 on the docking AGV platform 1 .

[0102] When two AGV platforms 1 are docked with each other, the first locking hook 3031 and the second locking hook 3032 on the AGV platform 1 are in contact and cooperate with the vacant first locking hook rotating shaft 3021 and the second locking hook rotating shaft 3022 on the second locking hook mounting seat 3012 and the third locking hook mounting seat 3013 on the docked AGV platform 1 to achieve locking.

[0103] A locking hook copper sleeve 304 is provided between the first locking hook rotating shaft 3021 and the first through hole and between the second locking hook rotating shaft 3022 and the third through hole. The locking hook copper sleeve 304 is used to reduce the wear caused by the rotation and ensure the accuracy.

[0104] The power assembly includes a power assembly mounting seat 308, a power assembly rotating shaft 307, a power assembly adapter plate 310, a power device 309, and a connecting plate 314. The power assembly mounting seat 308 is arranged below a side where the first guide positioning mounting seat 2011 and the second guide positioning mounting seat 2022 are away from each other. The power assembly adapter plate 310 is rotatably connected to the power assembly mounting seat 308 through the power assembly rotating shaft 307. The mounting end of the power device 309 is fixedly arranged on one side of the power assembly adapter plate 310. The output end of the power device 309 is rotatably connected to one end of the connecting plate 314, and the other end of the connecting plate 314 is fixedly connected to the middle part of the locking hook rod 306.

[0105] The first locking hook 3031, the second locking hook 3032, the locking hook mounting seat, and the locking hook connecting rod 306 form a parallelogram structure. By controlling the action of the locking hook connecting rod 306, the first locking hook 3031 and the second locking hook 3032 can be rotated around the first locking hook rotating shaft 3021 and the second locking hook rotating shaft 3022, so that the one-way hooks at the front ends of the first locking hook 3031 and the second locking hook 3032 can swing up and down, so that the first locking hook 3031 and the second locking hook 3032 on one side are in contact and cooperate with the first locking hook rotating shaft 3021 and the second locking hook rotating shaft 3022 of the mating surface to achieve locking.

[0106] The parallelogram rod length condition satisfies the "dead point" working state, that is, when the locking hook is locked, the locking hook connecting rod 306 coincides with the power device 309, ensuring the mechanical stability of the locking mechanism.

[0107] The power device 309 adopts a self-locking structure, which satisfies the stability of the locked state.

[0108] Preferably, the power device 309 adopts an electric cylinder or a hydraulic cylinder.

[0109] The first guide positioning mounting seat 2011 and the second guide positioning mounting seat 2022 are both provided with a locking hook detection proximity switch 312, and the locking hook detection proximity switch 312 is arranged between the second locking hook mounting seat 3012 and the third locking hook mounting seat 3013, and the position of the locking hook detection proximity switch 312 corresponds to the position of the first locking hook 3031 on the docking AGV platform 1.

[0110] The locking hook detection proximity switch 312 detects whether the locking hook is in place.

[0111] The guiding process of the locking mechanism of multiple AGV platforms (such as Figure 8 ):

[0112] After measuring the posture difference between the two vehicles through an external auxiliary measurement system and adjusting the two AGVs to be consistent with each other using a posture adjustment mechanism, the two AGV platforms 1 approach each other, and the horizontal guide bearing 207 and the vertical guide bearing 204 contact the front end of the horizontal "V" groove 208 and the vertical "V" groove 209 on the opposite side. The horizontal guide bearing 207 and the vertical guide bearing 204 replace the sliding friction with rolling friction to reduce the friction force, further adjust the contact posture of the two AGVs, and realize smooth guiding.

[0113] Positioning process of multiple AGV platform docking locking mechanism (such as Fig. 9 ):

[0114] The two AGV platforms 1 are close to each other, and the horizontal "V"-shaped guide positioning block 205 and the vertical "V"-shaped guide positioning block 202 are in contact with the middle ends of the horizontal "V"-shaped groove 208 and the vertical "V"-shaped groove 209 on the opposite side to ensure that all surfaces are in contact. At this time, the positioning is completed and there is no position deviation between the two vehicles.

[0115] The locking process of the locking mechanism of multiple AGV platforms (such as Fig.10 ):

[0116] After the dual AGV platform 1 is positioned, the two power devices 309 extend to drive the locking hook connecting rod 306 to move, so that the first locking hook 3031 contacts the first locking hook rotating shaft 3021, and the second locking hook 3032 contacts the second locking hook rotating shaft 3022, and the piston rod continues to extend, and the locking assembly 3 is further locked, and the first locking hook 3031 approaches the locking hook detection proximity switch 312 detects that the locking hook is in place, and the power device 309 stops moving and remains, the first locking hook 3031 and the second locking hook 3032 are locked, and the locking assembly 3 is locked.

[0117] Separation process of the locking mechanism for multiple AGV platforms:

[0118] In contrast to the locking process, the retraction action of the two power devices 309 drives the locking hook connecting rod 306 to move, so that the first locking hook 3031 is disengaged from the first locking hook rotating shaft 3021, and the second locking hook 3032 is disengaged from the second locking hook rotating shaft 3022, the piston rod continues to retract, the locking assembly 3 is further retracted, the first locking hook 3031 approaches the locking hook detection proximity switch 312 detects that the locking hook is disengaged, the power device 309 stops the action and remains, the first locking hook 3031 and the second locking hook 3032 are separated, and the locking assembly 3 is separated.

[0119] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. Multi-AGV platform docking locking mechanism, characterized by: It comprises a guide positioning component (2) and a locking component (3), wherein the guide positioning component (2) is arranged on both sides of the locking component (3), a plurality of multi-AGV platform docking locking mechanisms are arranged at both ends of the AGV platform (1), and the number and positions of the multi-AGV platform docking locking mechanisms on the docking end faces of the two AGV platforms (1) correspond to each other; The guide positioning assembly (2) comprises a first guide positioning mounting seat (2011), a second guide positioning mounting seat (2022), a guide positioning block assembly, and a guide positioning slot assembly. The first guide positioning mounting seat (2011) is arranged on the docking end face of the AGV platform (1), and the second guide positioning mounting seat (2022) is arranged on the docking end face of another AGV platform (1). The guide positioning block assembly can be detachably arranged on the first guide positioning mounting seat (2011) or the second guide positioning mounting seat (2022). The guide positioning slot assembly can be detachably arranged on the first guide positioning mounting seat (2011) or the second guide positioning mounting seat (2022). The guide positioning block assembly and the guide positioning slot assembly cooperate to achieve positioning.

2. The multi-AGV platform docking locking mechanism according to claim 1, characterized in that: The guide positioning block assembly (2) comprises two vertical guide positioning block assemblies and two horizontal guide positioning block assemblies, wherein the two vertical guide positioning block assemblies are arranged in parallel along the vertical direction on one side of the first guide positioning mounting seat (2011) or the second guide positioning mounting seat (2022), and the two horizontal guide positioning block assemblies are arranged in parallel along the vertical direction on the other side of the first guide positioning mounting seat (2011) or the second guide positioning mounting seat (2022); The vertical guide positioning block assembly comprises a vertical "V"-shaped guide positioning block (202), a vertical guide bearing mounting rod (203), and a vertical guide bearing (204); one end of the vertical "V"-shaped guide positioning block (202) is vertically arranged on a first guide positioning mounting seat (2011) or a second guide positioning mounting seat (2022); the other end of the vertical "V"-shaped guide positioning block (202) is provided with a first groove; and the vertical guide bearing (204) is arranged in the first groove via the vertical guide bearing mounting rod (203); The horizontal guide positioning block assembly comprises a horizontal "V"-shaped guide positioning block (205), a horizontal guide bearing mounting rod (206), and a horizontal guide bearing (207); one end of the horizontal "V"-shaped guide positioning block (205) is horizontally arranged on a first guide positioning mounting seat (2011) or a second guide positioning mounting seat (2022); the other end of the horizontal "V"-shaped guide positioning block (205) is provided with a second groove; and the horizontal guide bearing (207) is arranged in the second groove via the horizontal guide bearing mounting rod (206).

3. The multi-AGV platform docking locking mechanism according to claim 1, characterized in that: The guide positioning groove assembly comprises two vertical guide positioning groove assemblies and two horizontal guide positioning groove assemblies, wherein the two vertical guide positioning groove assemblies are arranged in parallel along the vertical direction on one side of the first guide positioning mounting seat (2011) or the second guide positioning mounting seat (2022), and the two horizontal guide positioning groove assemblies are arranged in parallel along the vertical direction on the other side of the first guide positioning mounting seat (2011) or the second guide positioning mounting seat (2022); The vertical guide positioning groove assembly comprises a vertical "V"-shaped groove (209), one end of the vertical "V"-shaped groove (209) is vertically arranged on the first guide positioning mounting seat (2011) or the second guide positioning mounting seat (2022), and the other end of the vertical "V"-shaped groove (209) is provided with a third groove capable of accommodating the vertical guide positioning block assembly; The horizontal guide positioning groove assembly comprises a horizontal "V"-shaped groove (208), one end of the horizontal "V"-shaped groove (208) is horizontally arranged on the first guide positioning mounting seat (2011) or the second guide positioning mounting seat (2022), and the other end of the horizontal "V"-shaped groove (208) is provided with a fourth groove capable of accommodating the horizontal guide positioning block assembly.

4. The multi-AGV platform docking and locking mechanism according to claim 1, characterized in that: The first guide positioning mounting seat (2011) and the second guide positioning mounting seat (2022) are both provided with a locking assembly (3), and the locking assembly (3) is arranged between two vertical guide positioning block assemblies and two horizontal guide positioning block assemblies or between two vertical guide positioning slot assemblies and two horizontal guide positioning slot assemblies; The locking components (3) on the first guide positioning mounting seat (2011) and the second guide positioning mounting seat (2022) are in contact and fit to achieve locking.

5. The multi-AGV platform docking and locking mechanism according to claim 1, characterized in that: The locking assembly (3) comprises a locking hook assembly and a power assembly, wherein the locking hook assembly is arranged on a side where the first guide positioning mounting seat (2011) and the second guide positioning mounting seat (2022) are close to each other, and the power assembly is arranged on a side where the first guide positioning mounting seat (2011) and the second guide positioning mounting seat (2022) are far away from each other, and the power assembly is arranged inside the AGV platform (1).

6. The multi-AGV platform docking locking mechanism according to claim 5, characterized in that: The locking hook assembly comprises a first locking hook mounting seat (3011), a second locking hook mounting seat (3012), a third locking hook mounting seat (3013), a first locking hook (3031), a second locking hook (3032), a first locking hook rotating shaft (3021), a second locking hook rotating shaft (3022), and a locking hook connecting rod (306); The first locking hook mounting seat (3011), the second locking hook mounting seat (3012), and the third locking hook mounting seat (3013) are equidistantly arranged on the first guide positioning mounting seat (2011) and the second guide positioning mounting seat (2022); the first locking hook mounting seat (3011), the second locking hook mounting seat (3012), and the third locking hook mounting seat (3013) are each provided with corresponding first rotating holes above, and the first locking hook mounting seat (3011), the second locking hook mounting seat (3012), and the third locking hook mounting seat (3013) are each provided with corresponding second rotating holes below; The first locking hook rotating shaft (3021) is arranged in the first rotating hole, and first rotating shaft mounting seats (3111) are arranged at both ends of the first locking hook rotating shaft (3021), and the first locking hook rotating shaft (3021) is fixedly connected to the first locking hook mounting seat (3011) and the third locking hook mounting seat (3013) through the first rotating shaft mounting seat (3111); The second locking hook rotating shaft (3022) is arranged in the second rotating hole, and second rotating shaft mounting seats (3112) are provided at both ends of the second locking hook rotating shaft (3022), and the second locking hook rotating shaft (3022) is fixedly connected to the first locking hook mounting seat (3011) and the third locking hook mounting seat (3013) through the second rotating shaft mounting seat (3112); The first locking hook (3031) is rotatably arranged on the first locking hook rotating shaft (3021), the second locking hook (3032) is rotatably arranged on the second locking hook rotating shaft (3022), and the first locking hook (3031) and the second locking hook (3032) are arranged between the first locking hook mounting seat (3011) and the second locking hook mounting seat (3012); The first locking hook (3031) and the second locking hook (3032) are connected at one side close to the power assembly via a locking hook connecting rod (306).

7. The multi-AGV platform docking and locking mechanism according to claim 6, characterized in that: A first through hole corresponding to the first locking hook rotating shaft (3021) is provided in the middle of the first locking hook (3031), a second through hole is provided on a side of the first locking hook (3031) close to the power assembly, and a first hook groove (3131) is provided below a side of the first locking hook (3031) away from the power assembly; A third through hole corresponding to the second locking hook rotating shaft (3022) is provided in the middle of the second locking hook (3032), a fourth through hole is provided on a side of the second locking hook (3032) close to the power assembly, and a second hook groove (3132) is provided below a side of the second locking hook (3032) away from the power assembly; Connecting rod shafts (305) are provided at both ends of the locking hook connecting rod (306), the connecting rod shafts (305) are arranged in the second through hole and the fourth through hole, and the first locking hook (3031) and the second locking hook (3032) are rotatably arranged at both ends of the locking hook connecting rod (306) through the connecting rod shafts (305); The first hook groove (3131) and the second hook groove (3132) are respectively engaged with the first locking hook rotating shaft (3021) and the second locking hook rotating shaft (3022) on the docking AGV platform (1).

8. The multi-AGV platform docking and locking mechanism according to claim 6, characterized in that: A locking hook copper sleeve (304) is provided between the first locking hook rotating shaft (3021) and the first through hole and between the second locking hook rotating shaft (3022) and the third through hole.

9. The multi-AGV platform docking locking mechanism according to claim 5, characterized in that: The power assembly comprises a power assembly mounting seat (308), a power assembly rotating shaft (307), a power assembly adapter plate (310), a power device (309), and a connecting plate (314); the power assembly mounting seat (308) is arranged below a side where the first guide positioning mounting seat (2011) and the second guide positioning mounting seat (2022) are away from each other; the power assembly adapter plate (310) is rotatably connected to the power assembly mounting seat (308) via the power assembly rotating shaft (307); the mounting end of the power device (309) is fixedly arranged on one side of the power assembly adapter plate (310); the output end of the power device (309) is rotatably connected to one end of the connecting plate (314); and the other end of the connecting plate (314) is fixedly connected to the middle part of the locking hook connecting rod (306).

10. The multi-AGV platform docking and locking mechanism according to claim 1, characterized in that: The first guide positioning mounting seat (2011) and the second guide positioning mounting seat (2022) are both provided with a locking hook detection proximity switch (312), the locking hook detection proximity switch (312) is arranged between the second locking hook mounting seat (3012) and the third locking hook mounting seat (3013), and the position of the locking hook detection proximity switch (312) corresponds to the position of the first locking hook (3031) on the docking AGV platform (1).

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