AGV double-vehicle linkage system

Abstract

The AGV double-vehicle linkage system comprises a front vehicle and a rear vehicle, the front vehicle comprises a front vehicle AGV body and a first driving wheel set, and the rear vehicle comprises a second driving wheel set of a rear vehicle AGV body and a follow-up steering wheel set; by means of the structure of the front vehicle and the rear vehicle, driving wheels of the first driving wheel set and the second driving wheel set can touch the ground, driven wheels of the follow-up steering wheel set are suspended in the air during no-load, and the front vehicle and the rear vehicle are driven by the first driving wheel set and the second driving wheel set to move independently. Distance adjustment, alignment and other actions can be conveniently carried out; when the two vehicles are loaded, the driving wheels of the first driving wheel set touch the ground, the driving wheels of the second driving wheel set are suspended, the driven wheels of the follow-up steering wheel set touch the ground, and the rear vehicle passively follows the front vehicle to move; by the adoption of the structure, the situation of power conflict of the two vehicles can be effectively solved, the effect is good, and industrial application and popularization are facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of automated guided vehicle collaborative control, and in particular to an AGV dual-vehicle linkage system. Background Art

[0002] Currently, AGVs are widely used in industrial logistics, and dual-vehicle linkage technology can improve load capacity through collaborative handling. However, dual-vehicle systems that are both driven by independent motors are prone to power conflicts: due to motor control errors, path deviations or external interference, the two vehicles are prone to speed or steering asynchrony, resulting in path deviation, collision risks and equipment loss.

[0003] Therefore, it is necessary to improve the existing AGV structure to effectively avoid the occurrence of power conflicts between two vehicles. Summary of the invention

[0004] In view of the technical problems pointed out in the above background technology, the purpose of the present invention is to provide an AGV dual-vehicle linkage system.

[0005] To achieve the purpose of the present invention, the technical solution provided by the present invention is as follows: The present invention provides an AGV dual-vehicle linkage system, comprising a front vehicle and a rear vehicle, wherein the front vehicle comprises a front vehicle AGV body and a first driving wheel set, and the rear vehicle comprises a second driving wheel set and a follow-up steering wheel set of the rear vehicle AGV body; When unloaded, the driving wheels of the first driving wheel set and the second driving wheel set are on the ground, the driven wheels of the follower steering wheel set are suspended in the air, and the front vehicle and the rear vehicle are driven by the first driving wheel set and the second driving wheel set to move respectively; When two vehicles are loaded, the driving wheels of the first driving wheel set are on the ground, the driving wheels of the second driving wheel set are suspended in the air, the driven wheels of the follower steering wheel set are on the ground, and the rear vehicle passively follows the front vehicle to move.

[0006] Compared with the prior art, the present invention has the following beneficial effects: By utilizing the structures of the front vehicle and the rear vehicle provided by the present invention, when the front vehicle and the rear vehicle are unloaded, the driving wheels of the first driving wheel group and the second driving wheel group are on the ground, and the driven wheels of the follower steering wheel group are suspended in the air. The front vehicle and the rear vehicle are driven and moved independently by the first driving wheel group and the second driving wheel group, respectively, so as to facilitate the distance adjustment, alignment and other actions between the two vehicles. When the two vehicles are loaded, the driving wheels of the first driving wheel group are on the ground, the driving wheels of the second driving wheel group are suspended in the air, and the driven wheels of the follower steering wheel group are on the ground, and the rear vehicle passively follows the front vehicle to move. The above structure can effectively solve the situation of power conflict between the two vehicles, with good effect, and is convenient for industrial promotion and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1A schematic diagram of the system structure provided by an embodiment of the present invention; Figure 2 A schematic diagram of the structure of a front vehicle provided by an embodiment of the present invention; Figure 3 A schematic diagram of the front vehicle structure from a bottom view provided by an embodiment of the present invention; Figure 4 A schematic diagram of the rear vehicle structure from a bottom view provided by an embodiment of the present invention; Figure 5 A first schematic diagram of the structure of a follower steering wheel assembly provided in an embodiment of the present invention; Figure 6 A second schematic diagram of the structure of a follower steering wheel assembly provided in an embodiment of the present invention; Figure 7 A schematic diagram of the structure of a driving wheel assembly provided in an embodiment of the present invention; Figure 8 A partial schematic diagram of the parking disc and parking caliper installation structure provided by an embodiment of the present invention; Fig. 9 A schematic diagram of a parking caliper oil pump assembly in a first state provided by an embodiment of the present invention; Fig.10 A schematic diagram of a second state of a parking caliper oil pump assembly provided by an embodiment of the present invention; Fig.11 A schematic diagram of a partial structure of a parking caliper oil pump assembly provided in an embodiment of the present invention; In the figure, the front vehicle 1, the rear vehicle 2, the driving wheel assembly 3, the follower steering wheel assembly 4, the steering wheel turntable 5, the steering wheel frame body 6, the steering wheel lifting hydraulic cylinder 7, the first lifting frame 8, the driven wheel 9, the parking plate 10, the parking caliper 11, the parking caliper oil pump assembly 12, the driving motor 13, the driving wheel 14, the second lifting frame 15, the driving wheel turntable 16, the driving wheel lifting hydraulic cylinder 17, the electric push rod 18, the parking caliper oil pump 19, the oil pot 20, the fixed bracket 21, the parking caliper oil pump switch 22, the first swing bracket 23, the electromagnet 24, the second swing bracket 25, and the tension spring 26. DETAILED DESCRIPTION

[0008] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0009] like Figure 1-Figure 11As shown, this embodiment provides an AGV dual-vehicle linkage system, including a front vehicle 1 and a rear vehicle 2, wherein the front vehicle 1 includes a front vehicle AGV body and a first driving wheel set, and the rear vehicle 2 includes a second driving wheel set and a follow-up steering wheel set of the rear vehicle AGV body; When unloaded, the driving wheels of the first driving wheel set and the second driving wheel set are on the ground, the driven wheels of the follower steering wheel set are suspended in the air, and the front vehicle 1 and the rear vehicle 2 are driven by the first driving wheel set and the second driving wheel set to move respectively; When two vehicles are loaded, the driving wheels of the first driving wheel set are on the ground, the driving wheels of the second driving wheel set are suspended in the air, the driven wheels of the follower steering wheel set are on the ground, and the rear vehicle 2 passively follows the front vehicle 1 to move.

[0010] It should be noted that the present application is applicable to scenarios where two vehicles are used to carry heavy loads, long loads, etc. When loading, the front vehicle has driving force, and the rear vehicle moves using the traction force generated by carrying the goods.

[0011] In particular, the present application is also applicable to the following scenarios, when two vehicles are loaded and climbing a slope or the traction of the front vehicle cannot meet the load, the driving wheels of the first driving wheel group and the second driving wheel group are both on the ground, and the driven wheels of the follow-up steering wheel group are on the ground at the same time, and the front vehicle and the rear vehicle of the two vehicles are moved respectively under the drive of the first driving wheel group and the second driving wheel group, providing a larger driving force.

[0012] It should be noted that the first driving wheel set, the second driving wheel set and the follow-up steering wheel set are all structures that can be raised and lowered, thereby being able to drive the corresponding AGV body to rise and fall.

[0013] In a specific embodiment, the present invention provides a specific structure of a follow-up steering wheel group, as shown below: The follow-up steering wheel group includes multiple follow-up steering wheel assemblies 4 with the same structure, each of which includes a steering wheel turntable 5, a steering wheel frame body 6, a steering wheel lifting hydraulic cylinder 7, a first lifting frame 8 and a driven wheel 9; the rear vehicle AGV body is rotatably connected to the first lifting frame 8 through the steering wheel turntable 5; the first lifting frame 8 is connected to the piston rod of the steering wheel lifting hydraulic cylinder 7, the lower end of the steering wheel lifting hydraulic cylinder 7 is installed on the steering wheel frame body 6, and the driven wheel 9 is installed at the lower end of the steering wheel frame body 6.

[0014] It should be noted that the steering wheel turntable may adopt a bearing structure. The steering wheel lifting hydraulic cylinder can realize the lifting of the AGV body.

[0015] Specifically, the number of the follow-up steering wheel assemblies 4 is set to 8, and 4 of the 8 follow-up steering wheel assemblies 4 are installed on each side and are symmetrically arranged on both sides.

[0016] Specifically, the driven wheel 9 may be a universal wheel.

[0017] In a specific embodiment, the present invention provides a specific structure of a first driving wheel group and a second driving wheel group, as shown below: the first driving wheel group and the second driving wheel group each include a plurality of driving wheel assemblies 3 with the same structure, each of the driving wheel assemblies 3 includes a driving wheel turntable 16, a driving wheel frame, a driving wheel lifting hydraulic cylinder 17, a second lifting frame 15, a driving wheel 14, and a driving mechanism; the second lifting frame 15 is rotatably connected to the front vehicle AGV body or the rear vehicle AGV body through the driving wheel turntable 16, the second lifting frame 15 is connected to the piston rod of the driving wheel lifting hydraulic cylinder 17, the driving wheel lifting hydraulic cylinder 17 is installed on the driving wheel frame, the driving wheel 14 is installed at the lower end of the driving wheel frame, and the driving wheel 14 is driven to rotate by the driving mechanism installed on the driving wheel frame.

[0018] The first driving wheel set and the second driving wheel set each include four driving wheel assemblies 3 with the same structure, two of the four driving wheel assemblies are installed on each side and the two sides are symmetrical.

[0019] There are two symmetrically arranged driving wheels 14, and each driving wheel 14 is provided with a driving mechanism. Each driving mechanism includes a driving motor 13, and the driving motor 13 drives the driving wheel 14 to rotate through a chain transmission mechanism. The driving motor, chain transmission mechanism, etc. all adopt structures in the prior art, including components such as sprockets and transmission chains.

[0020] It should be noted that the driving wheel turntable may adopt a bearing structure. The driving wheel lifting hydraulic cylinder can realize the lifting of the AGV body.

[0021] In a specific embodiment, each driving wheel 14 is provided with a brake mechanism.

[0022] Each of the brake mechanisms includes a parking caliper 11 and a parking disc 10 used in conjunction with each other, and the parking disc 10 is connected to a driving wheel 14. When braking is required, the parking caliper 11 holds the parking disc 10 tightly so that the driving wheel cannot rotate, and braking is performed.

[0023] It should be noted that the parking disc 10 and the parking caliper 11 are both purchased components, and both adopt existing technologies.

[0024] It should be noted that the parking caliper 11 used in the present application uses hydraulic oil and is opened and closed by using a parking caliper oil pump assembly 12 .

[0025] Specifically, the parking caliper oil pump assembly 12 includes an electric push rod 18, a parking caliper oil pump 19, an oil pot 20, a fixed bracket 21, a parking caliper oil pump switch 22, a first swing bracket 23, an electromagnet 24, a second swing bracket 25, and a tension spring 26; The fixed bracket 21 is installed on the driving wheel frame body, and the lower end of the oil pot 20 is connected to the parking caliper oil pump 19; the electromagnet 24 is installed on the inner side of the first swing bracket 23, and the second swing bracket 25 is adsorbed on the electromagnet 24. A trigger rod is arranged on the inner side of the second swing bracket 25, and the parking caliper oil pump switch 22 of the parking caliper oil pump 19 corresponds to the trigger rod on the second swing bracket 25 and is used in conjunction with each other; one end of the first swing bracket 23 and the second swing bracket 25 are hingedly connected to one side of the fixed bracket 21 through a pin; the tail end of the electric push rod 18 is hingedly connected to the fixed bracket 21, and one end of the piston rod is hingedly connected to the first swing bracket 23. The second swing bracket 25 is connected to the driving wheel frame body through a tension spring 26.

[0026] During normal use, during normal walking, the electric push rod piston rod extends, causing the first swing bracket and the second swing bracket to rotate around the pin shaft, the trigger rod is not in contact with the parking caliper oil pump switch 22, the parking caliper oil pump is not turned on, and the parking caliper will not hold the parking plate tightly; when braking is needed, the electric push rod piston rod retracts, causing the first swing bracket and the second swing bracket to rotate around the pin shaft, the trigger rod is in contact with the parking caliper oil pump switch 22, the parking caliper oil pump is turned on, the parking caliper obtains hydraulic pressure, holds the parking plate tightly, and achieves a braking effect.

[0027] However, the above structure is an innovative structure, which can solve the following technical problems: In the case of a sudden power outage and braking, the electric push rod cannot be retracted. However, the electromagnet is powered off and fails. Under the action of the tension spring, the second swing bracket swings back, which can drive the trigger rod to contact the parking caliper oil pump switch 22. The parking caliper oil pump is turned on, and the parking caliper receives hydraulic pressure to hold the parking disc tightly, achieving the braking effect. This innovative structure can solve the technical problem of still being able to brake in the case of a power outage.

[0028] Finally, it should be noted that the above embodiments are only used to illustrate and explain the present invention, and are not intended to limit the present invention to the scope of the described embodiments. In addition, those skilled in the art can understand that the present invention is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of the present invention, and these variations and modifications all fall within the scope of the protection claimed by the present invention.

Claims

1. An AGV dual-vehicle linkage system, characterized in that: It comprises a front vehicle (1) and a rear vehicle (2), wherein the front vehicle (1) comprises a front vehicle AGV body and a first driving wheel set, and the rear vehicle (2) comprises a second driving wheel set and a follow-up steering wheel set of the rear vehicle AGV body; When unloaded, the driving wheels of the first driving wheel set and the second driving wheel set are on the ground, the driven wheels of the follower steering wheel set are suspended in the air, and the front vehicle (1) and the rear vehicle (2) are driven by the first driving wheel set and the second driving wheel set to move respectively; When the two vehicles are loaded, the driving wheels of the first driving wheel set are on the ground, the driving wheels of the second driving wheel set are suspended in the air, the driven wheels of the follower steering wheel set are on the ground, and the rear vehicle (2) passively follows the front vehicle (1) to move.

2. The AGV dual-vehicle linkage system according to claim 1, characterized in that: The follower steering wheel assembly comprises a plurality of follower steering wheel assemblies (4) of identical structure, each of the follower steering wheel assemblies comprising a steering wheel turntable (5), a steering wheel frame body (6), a steering wheel lifting hydraulic cylinder (7), a first lifting frame (8) and a driven wheel (9); the rear vehicle AGV body is rotatably connected to the first lifting frame (8) via the steering wheel turntable (5); the first lifting frame (8) is connected to the piston rod of the steering wheel lifting hydraulic cylinder (7); the lower end of the steering wheel lifting hydraulic cylinder (7) is mounted on the steering wheel frame body (6), and the driven wheel (9) is mounted on the lower end of the steering wheel frame body (6).

3. The AGV dual-vehicle linkage system according to claim 2 is characterized in that: There are eight follower steering wheel assemblies (4), four of which are installed on each side and are symmetrical on both sides.

4. The AGV dual-vehicle linkage system according to claim 2, characterized in that: The driven wheel (9) is a universal wheel.

5. The AGV dual-vehicle linkage system according to claim 1, characterized in that: The first driving wheel group and the second driving wheel group each respectively comprise a plurality of driving wheel assemblies (3) of identical structure, each of the driving wheel assemblies (3) comprising a driving wheel rotating disk (16), a driving wheel frame body, a driving wheel lifting hydraulic cylinder (17), a second lifting frame (15), a driving wheel (14), and a driving mechanism; the second lifting frame (15) is rotatably connected to a front AGV body or a rear AGV body via the driving wheel rotating disk (16), the second lifting frame (15) is connected to a piston rod of a driving wheel lifting hydraulic cylinder (17), the driving wheel lifting hydraulic cylinder (17) is mounted on the driving wheel frame body, the driving wheel (14) is mounted at the lower end of the driving wheel frame body, and the driving wheel (14) is driven to rotate by a driving mechanism mounted on the driving wheel frame body.

6. The AGV dual-vehicle linkage system according to claim 5, characterized in that: The driving wheels (14) are two symmetrically arranged, and each driving wheel (14) is provided with a driving mechanism.

7. The AGV dual-vehicle linkage system according to claim 6, characterized in that: Each of the driving mechanisms comprises a driving motor (13), and the driving motor (13) drives the driving wheel (14) to rotate via a chain transmission mechanism.

8. The AGV dual-vehicle linkage system according to claim 5, characterized in that: Each driving wheel (14) is provided with a brake mechanism.

9. The AGV dual-vehicle linkage system according to claim 8, characterized in that: Each of the brake mechanisms comprises a parking caliper (11) and a parking disc (10) used in conjunction with each other, and the parking disc (10) is connected to a driving wheel (14).

10. The AGV dual-vehicle linkage system according to claim 5, characterized in that: The first driving wheel set and the second driving wheel set each comprise four driving wheel assemblies (3) of identical structure, two of the four driving wheel assemblies being mounted on each side and being symmetrical on both sides.

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