AGV Dual-Vehicle Linkage System

Abstract

The present invention discloses an AGV double-vehicle linkage system, which includes a front vehicle and a rear vehicle. The front vehicle includes a front-vehicle AGV body and a first driving wheel set, and the rear vehicle includes a second driving wheel set of the rear-vehicle AGV body and a follow-up steering wheel set. By using the structures of the front vehicle and the rear vehicle provided by the present invention, when the vehicle is unloaded, the driving wheels of the first driving wheel set and the second driving wheel set are on the ground, and the driven wheels of the follow-up steering wheel set are suspended. The front vehicle and the rear vehicle are respectively independently driven and moved under the drive of the first driving wheel set and the second driving wheel set, which is convenient for actions such as distance adjustment and alignment between the two; when the double 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, and the driven wheels of the follow-up steering wheel set are on the ground. The rear vehicle moves passively following the front vehicle; adopting the above structure can effectively solve the situation of double-vehicle power conflict, with good effects and being convenient for popularization and use in the industry.

Description

Technical Field

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

[0002] Currently, AGVs are widely used in industrial logistics. The two-vehicle linkage technology can improve the load capacity through collaborative handling. However, a two-vehicle system with independent motor drives is prone to power conflict problems: due to motor control errors, path deviations, or external disturbances, the two vehicles are likely to have asynchronous speeds or steering, resulting in path deviation, collision risks, and equipment wear.

[0003] Therefore, it is necessary to improve the existing AGV structure to effectively avoid the occurrence of two-vehicle power conflict. Summary of the Invention

[0004] Aiming at the technical problems pointed out in the above background art, the purpose of the present invention is to provide an AGV two-vehicle linkage system.

[0005] To achieve the purpose of the present invention, the technical solutions provided by the present invention are as follows:

[0006] The present invention provides an AGV two-vehicle linkage system, including a front vehicle and a rear vehicle. The front vehicle includes a front vehicle AGV body and a first driving wheel set, and the rear vehicle includes a second driving wheel set and a follow-up steering wheel set of the rear vehicle AGV body;

[0007] When unloaded, the driving wheels of the first driving wheel set and the second driving wheel set are on the ground, and the driven wheels of the follow-up steering wheel set are suspended. The front vehicle and the rear vehicle move respectively driven by the first driving wheel set and the second driving wheel set;

[0008] 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, the driven wheels of the follow-up steering wheel set are on the ground, and the rear vehicle moves passively following the front vehicle.

[0009] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0010] By using the structures of the front vehicle and the rear vehicle provided by the present invention, it can be realized that 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 follow-up steering wheel set are suspended, and the front vehicle and the rear vehicle move independently driven by the first driving wheel set and the second driving wheel set respectively, which is convenient for operations such as distance adjustment and alignment between the two; 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, the driven wheels of the follow-up steering wheel set are on the ground, and the rear vehicle moves passively following the front vehicle; adopting the above structure can effectively solve the occurrence of two-vehicle power conflict, with good effects and is convenient for promotion and use in the industry. Brief Description of the Drawings

[0011] Figure 1 It is a schematic structural diagram of the system provided by an embodiment of the present invention;

[0012] Figure 2 It is a schematic front vehicle structure diagram provided by an embodiment of the present invention;

[0013] Figure 3 It is a schematic bottom-up view of the front vehicle provided by an embodiment of the present invention;

[0014] Figure 4 It is a schematic bottom-up view of the rear vehicle provided by an embodiment of the present invention;

[0015] Figure 5 It is the first schematic structural diagram of the follow-up steering wheel assembly provided by an embodiment of the present invention;

[0016] Figure 6 It is the second schematic structural diagram of the follow-up steering wheel assembly provided by an embodiment of the present invention;

[0017] Figure 7 It is a schematic structural diagram of the drive wheel assembly provided by an embodiment of the present invention;

[0018] Figure 8 It is a partial schematic installation structure diagram of the parking disc and the parking caliper provided by an embodiment of the present invention;

[0019] Figure 9 It is the first state schematic diagram of the parking caliper oil pump assembly provided by an embodiment of the present invention;

[0020] Figure 10 It is the second state schematic diagram of the parking caliper oil pump assembly provided by an embodiment of the present invention;

[0021] Figure 11 It is a partial structural schematic diagram of the parking caliper oil pump assembly provided by an embodiment of the present invention;

[0022] In the figure, the front vehicle is 1, the rear vehicle is 2, the drive wheel assembly is 3, the follow-up steering wheel assembly is 4, the steering wheel turntable is 5, the steering wheel frame body is 6, the steering wheel lifting hydraulic cylinder is 7, the first lifting frame is 8, the driven wheel is 9, the parking disc is 10, the parking caliper is 11, the parking caliper oil pump assembly is 12, the drive motor is 13, the drive wheel is 14, the second lifting frame is 15, the drive wheel turntable is 16, the drive wheel lifting hydraulic cylinder is 17, the electric push rod is 18, the parking caliper oil pump is 19, the oil pot is 20, the fixed bracket is 21, the parking caliper oil pump switch is 22, the first swing bracket is 23, the electromagnet is 24, the second swing bracket is 25, and the tension spring is 26. Detailed Embodiments

[0023] The following clearly and completely describes the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0024] As Figures 1 - 11 shown, this embodiment provides an AGV two-vehicle linkage system, including a front vehicle 1 and a rear vehicle 2. 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.

[0025] When unloaded, the driving wheels of the first driving wheel set and the second driving wheel set touch the ground, and the driven wheels of the follow-up steering wheel set are suspended. The front vehicle 1 and the rear vehicle 2 move respectively under the drive of the first driving wheel set and the second driving wheel set.

[0026] 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 2 moves passively following the front vehicle 1.

[0027] It should be noted that this application is applicable to scenarios where two vehicles cooperate to carry heavy loads, long loads, etc. When loaded, the front vehicle has driving force, and the rear vehicle moves using the traction force generated by carrying the goods.

[0028] In particular, this application is also applicable to the following scenarios. When the two vehicles are loaded, and in scenarios such as climbing slopes or when the traction force of the front vehicle cannot meet the load, the driving wheels of the first driving wheel set and the second driving wheel set both touch the ground, and the driven wheels of the follow-up steering wheel set also touch the ground at the same time. The front vehicle and the rear vehicle of the two vehicles move respectively under the drive of the first driving wheel set and the second driving wheel set to provide greater driving force.

[0029] 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 lifted and lowered, so as to be able to lift and lower the corresponding AGV body.

[0030] In a specific embodiment, the present invention provides the specific structure of the follow-up steering wheel set as follows:

[0031] The follow-up steering wheel set includes multiple follow-up steering wheel assemblies 4 with the same structure. Each follow-up steering wheel assembly includes a steering wheel turntable 5, a steering wheel frame 6, a steering wheel lifting hydraulic cylinder 7, a first lifting frame 8, and a driven wheel 9. The rear AGV vehicle 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 6, and the driven wheel 9 is installed at the lower end of the steering wheel frame 6.

[0032] It should be noted that the steering wheel turntable can adopt a bearing structure. The steering wheel lifting hydraulic cylinder can realize the lifting of the AGV vehicle body.

[0033] Specifically, the number of the follow-up steering wheel assemblies 4 is set to 8. Four of the 8 follow-up steering wheel assemblies 4 are installed on each side and are symmetrically arranged on both sides.

[0034] Specifically, the driven wheel 9 can be a universal wheel.

[0035] In a specific embodiment, the present invention provides the specific structures of the first driving wheel set and the second driving wheel set as follows: The first driving wheel set and the second driving wheel set both respectively include multiple driving wheel assemblies 3 with the same structure. Each driving wheel assembly 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 AGV vehicle body or the rear AGV vehicle 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 a driving mechanism installed on the driving wheel frame.

[0036] Among them, the first driving wheel set and the second driving wheel set both respectively include 4 driving wheel assemblies 3 with the same structure. Two of the 4 driving wheel assemblies are installed on each side and are symmetrically arranged on both sides.

[0037] Among them, the driving wheels 14 are two symmetrically arranged, and each driving wheel 14 is provided with 1 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, the chain transmission mechanism, etc. all adopt the structures in the prior art, including components such as sprockets and transmission chains.

[0038] It should be noted that the driving wheel turntable can adopt a bearing structure. The driving wheel lifting hydraulic cylinder can realize the lifting of the AGV vehicle body.

[0039] In a specific embodiment, each drive wheel 14 is provided with one braking mechanism.

[0040] Each of the braking mechanisms includes a parking caliper 11 and a parking disc 10 that are used in cooperation. The parking disc 10 is connected to the drive wheel 14. When braking is required, the parking caliper 11 holds the parking disc 10 tightly, so that the drive wheel cannot rotate, and braking is performed.

[0041] It should be noted that both the parking disc 10 and the parking caliper 11 are off-the-shelf components and both adopt existing technologies.

[0042] It should be noted that the parking caliper 11 used in this application uses hydraulic oil, and the opening and closing are realized by the parking caliper oil pump assembly 12.

[0043] 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 fixing 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;

[0044] The fixing bracket 21 is installed on the drive 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 inside the first swing bracket 23, the second swing bracket 25 is adsorbed on the electromagnet 24, a trigger rod is arranged inside 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 cooperation; one ends of the first swing bracket 23 and the second swing bracket 25 are hinged to one side of the fixing bracket 21 through a pin shaft; the tail end of the electric push rod 18 is hinged to the fixing bracket 21, and one end of the piston rod is hinged to the first swing bracket 23. The second swing bracket 25 is connected to the drive wheel frame body through a tension spring 26.

[0045] During normal use, during normal walking, the piston rod of the electric push rod extends, causing the first swing bracket and the second swing bracket to rotate around the pin shaft, and the trigger rod does not contact the parking caliper oil pump switch 22, the parking caliper oil pump is not opened, and the parking caliper does not hold the parking disc tightly; when braking is required, the piston rod of the electric push rod retracts, causing the first swing bracket and the second swing bracket to rotate around the pin shaft, the trigger rod contacts the parking caliper oil pump switch 22, the parking caliper oil pump is opened, the parking caliper obtains hydraulic pressure, holds the parking disc tightly, and realizes the braking effect.

[0046] However, the above structure is an innovative structure and can solve the following technical problems:

[0047] In the scenario where sudden power failure requires braking, the electric push rod cannot retract. However, at this time, the electromagnet is powered off and fails. Under the action of the tension of the pulling spring, the second swing bracket swings back, which can drive the trigger rod to contact the parking caliper oil pump switch 22, and the parking caliper oil pump is turned on. The parking caliper obtains hydraulic pressure and holds the parking disc tightly to achieve the braking effect. This innovative structure can solve the technical problem of still being able to brake in the case of power failure.

[0048] Finally, it should be noted that the above embodiments are only used for exemplifying and illustrating the present invention, rather than intending to limit the present invention within 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 protection required by the present invention.

Claims

1. An AGV dual-vehicle linkage system, characterized in that: The invention 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 group, and the rear vehicle (2) comprises a second driving wheel group and a follower steering wheel group of the rear vehicle AGV body; when unloaded, the driving wheels of the first driving wheel group and the second driving wheel group touch the ground, and the driven wheels of the follower steering wheel group are suspended in the air, and the front vehicle (1) and the rear vehicle (2) move under the drive of the first driving wheel group and the second driving wheel group respectively; when both vehicles are loaded, the driving wheels of the first driving wheel group touch 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 touch the ground, and the rear vehicle (2) passively follows the front vehicle (1) to move; The first driving wheel group and the second driving wheel group each include a plurality of driving wheel assemblies (3) of identical structure, each of the driving wheel assemblies (3) includes a driving wheel (14); each driving wheel (14) is provided with a brake mechanism; Each of the brake mechanisms comprises a parking caliper (11) and a parking disc (10) used in conjunction with each other, wherein the parking disc (10) is connected to a driving wheel (14); the parking caliper (11) is opened and closed by a parking caliper oil pump assembly (12), which comprises 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 mounted 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 mounted 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 provided 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).

2. The AGV dual-vehicle linkage system according to claim 1, characterized in that: The follower steering wheel group includes a plurality of follower steering wheel assemblies (4) with the same structure, each of the follower steering wheel assemblies 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 rotationally 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 on the lower end of the steering wheel frame body (6).

3. The AGV dual-vehicle linkage system according to claim 2, 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 include a plurality of driving wheel assemblies (3) with the same structure, and each of the driving wheel assemblies (3) also includes a driving wheel turntable (16), a driving wheel frame body, a driving wheel lifting hydraulic cylinder (17), a second lifting frame (15) and a driving mechanism; the second lifting frame (15) is rotatably connected to the front AGV body or the rear 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 body, the driving wheel (14) is installed at the lower end of the driving wheel frame body, and the driving wheel (14) is driven to rotate by the driving mechanism installed on the driving wheel frame body.

6. The AGV dual-vehicle linkage system according to claim 5, characterized in that: There are two driving wheels (14) 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 a driving wheel (14) to rotate via a chain transmission mechanism.

8. The AGV dual-vehicle linkage system according to claim 7, 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).

9. 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 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.

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