Butt joint mechanism applied to cylindrical carrier and automatic guide transport vehicle

Abstract

The invention discloses a docking mechanism applied to a cylindrical carrier. The docking mechanism comprises a carrying assembly. The driving assembly is arranged on the carrying assembly; the two telescopic pallet fork assemblies are symmetrically arranged on the carrying assembly in a telescopic mode and are in transmission connection with the driving assembly; the stop lever assemblies are movably arranged at the tail ends of the two telescopic pallet fork assemblies; the telescopic fork assembly comprises a first transmission belt mechanism which is movably arranged on the carrying assembly and is in transmission connection with the driving assembly; the first telescopic rod is in transmission connection with the first transmission belt mechanism and is slidably arranged on the carrying assembly; the second transmission belt mechanism is arranged on the first telescopic rod and connected with the carrying assembly; and the second telescopic rod is slidably arranged on the first telescopic rod and is in transmission connection with the second transmission belt mechanism. The two telescopic pallet fork assemblies and the stop lever assembly are matched to transfer the multiple cylindrical carriers, and the problem that an existing cylindrical carrier is inconvenient to be in butt joint with a traction AGV is effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of docking mechanisms, and in particular to a docking mechanism applied to a cylindrical carrier and an automatic guided transport vehicle. Background Art

[0002] Automated Guided Vehicle (AGV) is a device that uses a single or multiple steering wheels to provide power for transportation operations. The steering wheel is a power module that has the ability to drive forward and backward and actively steer. The drive motor on it is only responsible for driving the vehicle, and the steering motor is only responsible for steering.

[0003] In many production workshops, material transportation relies on manpower. Materials are generally loaded on corresponding carriers and moved by manual pushing and pulling. In order to improve efficiency, automated equipment is often introduced, and traction AGV is born. However, the current traction AGV generally cannot directly dock with existing carriers in the production workshop. The carrier needs to be modified to add an automatic docking device; the modification cost for workshops that already have a large number of carriers is very high, especially for cylindrical carriers, which are generally open-molded plastic products and are more difficult to modify than general metal material carts; therefore, a docking mechanism and an automatic guided transport vehicle applied to cylindrical carriers are provided to solve the above problems. Summary of the invention

[0004] One of the purposes of the present invention is to provide a docking mechanism and an automatic guided vehicle for use with a cylindrical carrier, so as to solve the problem that the existing cylindrical carrier is inconvenient to dock with a traction AGV.

[0005] The docking mechanism and the automatic guided transport vehicle applied to the cylindrical carrier of the present invention can be realized by the following technical solutions: The present invention discloses a docking mechanism for a cylindrical carrier, comprising a carrier assembly, which is a hollow cavity with one end open; a driving assembly, which is arranged on the carrier assembly; two telescopic fork assemblies, which are symmetrically telescopically arranged on the carrier assembly and are respectively connected to the driving assembly in a transmission manner; a blocking rod assembly, which is movably arranged at the rear ends of the two telescopic fork assemblies, and the blocking rod assembly and the carrier assembly are combined to form a closed cavity; Among them, the telescopic fork assembly includes a first transmission belt mechanism, which is movably arranged on the carrying assembly and is transmission-connected to the driving assembly; a first telescopic rod transmission-connected to the first transmission belt mechanism and slidably arranged on the carrying assembly; a second transmission belt mechanism arranged on the first telescopic rod and connected to the carrying assembly; and a second telescopic rod slidingly arranged on the first telescopic rod and transmission-connected to the second transmission belt mechanism.

[0006] In one embodiment, the carrier assembly includes a carrier support, which is a hollow U-shaped cavity, and the inner cavity of the carrier support matches the size of the cylindrical carrier; and a plurality of first sliding wheels arranged at the bottom of the carrier support are respectively rotated.

[0007] In one embodiment, first guide rails are fixedly disposed on opposite inner sides of the carrier bracket, and two first transmission belt mechanisms are slidably disposed on the two first guide rails, respectively.

[0008] In one embodiment, a material sensor is disposed at the inner front end of the carrier bracket; and a first in-position sensor and a second in-position sensor are also disposed on the carrier bracket, respectively.

[0009] In one embodiment, the driving assembly includes a fixed seat, which is fixedly mounted on the carrying bracket; a first driving motor fixedly mounted on the fixed seat and capable of forward and reverse rotation; a transmission shaft rotatably mounted on the carrying bracket and respectively connected to the two telescopic fork assemblies; and a first transmission belt arranged between the first driving motor and the transmission shaft.

[0010] In one embodiment, the first transmission belt mechanism includes a driving wheel fixedly disposed on the transmission shaft; a driven wheel rotatably disposed on the carrying bracket; and a second transmission belt movably disposed between the driving wheel and the driven wheel, and the first telescopic rod is fixedly connected to the second transmission belt.

[0011] In one embodiment, the second transmission belt mechanism includes a first rotating wheel and a second rotating wheel which are relatively rotatably arranged on the first telescopic rod; and a third transmission belt which is movably arranged between the first rotating wheel and the second rotating wheel and connected to the carrying bracket.

[0012] In one embodiment, the barrier rod assembly includes a second drive motor, which is fixed on one of the second telescopic rods; a barrier rod body transmission connected to the second drive motor; a slot fixed on the other second telescopic rod relative to the second drive motor, and the barrier rod body can be detachably engaged in the slot; a first barrier rod sensor fixed on the second telescopic rod on the same side as the second drive motor and arranged on the side of the barrier rod body; and a second barrier rod sensor fixed on the side of the slot.

[0013] In one embodiment, at least one laser radar is arranged on the carrier assembly or the telescopic fork assembly.

[0014] An automatic guided transport vehicle applied to a cylindrical carrier of the present invention comprises a docking mechanism as described in any one of the above items and an AGV main body; the AGV main body is transmission-connected with the docking mechanism.

[0015] Compared with the prior art, the docking mechanism for a cylindrical carrier and an automatic guided transport vehicle of the present invention have the following beneficial effects: The present invention provides a docking mechanism for cylindrical carriers and an automatic guided transport vehicle, which synchronously drives two telescopic fork assemblies to extend through a driving assembly to wrap multiple cylindrical carriers arranged in sequence, and then cooperates with a barrier rod assembly and two telescopic fork assemblies to enclose the multiple cylindrical carriers, thereby facilitating the transfer operation of the multiple cylindrical carriers, and the transfer operation can be achieved without modifying the cylindrical carriers, effectively solving the problem that the existing cylindrical carriers are inconvenient to dock with a traction AGV; at the same time, the telescopic fork assembly synchronously drives the two telescopic rods to retract through two transmission belt mechanisms, so that the two telescopic fork assemblies are folded and accommodated on the side of the carrying bracket, thereby reducing the occupied space of the automatic guided transport vehicle and facilitating the movement of the automatic guided transport vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 It is a structural schematic diagram of a docking mechanism applied to a cylindrical carrier in a retracted state according to the present invention; Figure 2 It is a structural schematic diagram of a docking mechanism applied to a cylindrical carrier in the present invention in an extended state; Figure 3 It is a structural schematic diagram of another perspective of a docking mechanism applied to a cylindrical carrier of the present invention in an extended state; Figure 4 It is a schematic diagram of the side structure of a docking mechanism applied to a cylindrical carrier in the extended state of the present invention; Figure 5 It is a structural schematic diagram of an automatic guided transport vehicle applied to a cylindrical carrier according to the present invention; Figure 6 It is a schematic diagram of the side structure of an automatic guided transport vehicle applied to a cylindrical carrier of the present invention; Figure 7 It is a schematic diagram of a process of loading a cylindrical carrier by an automatic guided transport vehicle applied to the cylindrical carrier according to the present invention.

[0018] Indications in the figure: 10, docking mechanism; 11, carrying assembly; 111, carrying bracket; 1111, first guide rail; 1112, material sensor; 1113, first in-place sensor; 1114, second in-place sensor; 112, first sliding wheel; 12, driving assembly; 121, fixing seat; 122, first driving motor; 123, first transmission belt; 124, transmission shaft; 13, telescopic fork assembly; 131, first transmission belt mechanism; 132 , first telescopic rod; 1321, second guide rail; 133, second transmission belt mechanism; 134, second telescopic rod; 1341, over-limit sensor; 14, barrier rod assembly; 141, second drive motor; 142, barrier rod body; 143, slot; 144, first barrier rod sensor; 145, second barrier rod sensor; 15, laser radar; 20, AGV body; 21, connecting plate; 30, tubular carrier; 31, carrier body; 32, second sliding wheel. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0021] See also Figure 1-Figure 4As shown, a docking mechanism 10 applied to a cylindrical carrier of the present invention mainly comprises a carrier component 11, a driving component 12, two telescopic fork components 13, a blocking rod component 14 and at least one laser radar 15; the carrier component 11 is a docking body, which is a hollow cavity with an opening at one end; the driving component 12 is arranged on the carrier component 11; the two telescopic fork components 13 are symmetrically telescopically arranged on the carrier component 11 and are respectively connected to the driving component 12 by transmission, and the driving component 12 synchronously drives the two telescopic fork components 13 to retract or unfold operations, thereby facilitating the carrying operation of multiple cylindrical carriers 30; the blocking rod component 14 is movably arranged at the rear ends of the two telescopic fork components 13 and can be enclosed with the carrier component 11 to form a closed cavity, which blocks the multiple cylindrical carriers 30 to prevent the cylindrical carriers 30 from detaching from the docking mechanism 10; at least one laser radar 15 is arranged on the carrier component 11 or the telescopic fork component 13, and the laser radar 15 is used to detect in real time whether there are obstacles nearby to avoid collision. In this embodiment, two laser radars 15 are respectively arranged on the telescopic fork assembly 13; in other embodiments, the number of laser radars 15 can be one, three or other plurality, and the number is set according to actual needs.

[0022] See also Figure 1-Figure 4 As shown, the transport component 11 includes a transport bracket 111 and a plurality of first sliding wheels 112; the transport bracket 111 is a hollow U-shaped cavity, and its inner cavity matches the size of the cylindrical carrier 30; the plurality of first sliding wheels 112 are rotatably arranged at the bottom of the transport bracket 111, and the plurality of first sliding wheels 112 facilitate the traction and transportation operation of the transport bracket 111. Specifically, first guide rails 1111 are fixedly arranged on the relative inner sides of the carrier 111, and two telescopic fork assemblies 13 are slidably arranged on the two first guide rails 1111, and the telescopic fork assemblies 13 are guided and limited by the first guide rails 1111; a material sensor 1112 is arranged at the inner front end of the carrier 111, and the material sensor 1112 is used to sense in real time whether the cylindrical carrier 30 enters the carrier 111; the carrier 111 is also provided with a first in-place sensor 1113 and a second in-place sensor 1114, and the first in-place sensor 1113 and the second in-place sensor 1114 are used to sense in real time whether the retraction and extension of the telescopic fork assembly 13 are in place. In this embodiment, two first sliding wheels 112 are rotatably arranged at the bottom of the carrier 111; in other embodiments, the number of the first sliding wheels 112 can be three, four or other plurality, and the number is set according to actual needs.

[0023] See also Figure 1-Figure 4As shown, in this embodiment, the driving assembly 12 includes a fixed seat 121, a first driving motor 122, a first transmission belt 123 and a transmission shaft 124; the fixed seat 121 is fixedly arranged on the carrying bracket 111; the first driving motor 122 is fixedly arranged on the fixed seat 121, and can be reversed; both ends of the transmission shaft 124 are rotatably arranged on the carrying bracket 111 and are respectively connected to the two telescopic fork assemblies 13 in transmission connection; the first transmission belt 123 is arranged between the first driving motor 122 and the transmission shaft 124, and the first driving motor 122 drives the transmission shaft 124 to rotate through the first transmission belt 123, thereby synchronously driving the two telescopic fork assemblies 13 to retract or extend.

[0024] See also Figure 1-Figure 4As shown, in this embodiment, the telescopic fork assembly 13 includes a first transmission belt mechanism 131, a first telescopic rod 132, a second transmission belt mechanism 133 and a second telescopic rod 134; the first transmission belt mechanism 131 is movably arranged on the carrier bracket 111 and is transmission-connected to the transmission shaft 124, and the first drive motor 122 drives the first transmission belt mechanism 131 to rotate through the first transmission belt 123 and the transmission shaft 124 in turn; the first telescopic rod 132 is transmission-connected to the first transmission belt mechanism 131 and is slidably arranged on the first guide rail 1111, and the first transmission belt mechanism 131 is transmission-connected to the first telescopic rod 132 and is slidably arranged on the first guide rail 1111. The belt mechanism 131 drives the first telescopic rod 132 to reciprocate on the first guide rail 1111, thereby realizing the retraction or extension operation of the first telescopic rod 132; the second transmission belt mechanism 133 is arranged on the first telescopic rod 132 and connected to the carrier bracket 111; the second telescopic rod 134 is slidably arranged on the first telescopic rod 132 and is transmission-connected with the second transmission belt mechanism 133, and the second transmission belt mechanism 133 drives the second telescopic rod 134 to reciprocate on the first telescopic rod 132, thereby realizing the retraction or extension operation of the second telescopic rod 134. Specifically, the first transmission belt mechanism 131 includes a driving wheel, a driven wheel and a second transmission belt; the driving wheel is fixedly arranged on the transmission shaft 124, and rotates with the rotation of the transmission shaft 124; the driven wheel is rotationally arranged on the carrier bracket 111; the second transmission belt is movably arranged between the driving wheel and the driven wheel, the first telescopic rod 132 is fixedly connected with the second transmission belt, and the second transmission belt drives the first telescopic rod 132 to reciprocate on the first guide rail 1111. Specifically, a second guide rail 1321 is provided on the side of the first telescopic rod 132, and the second telescopic rod 134 is slidably provided on the second guide rail 1321. Specifically, the second transmission belt mechanism 133 includes a first rotating wheel, a second rotating wheel and a third transmission belt; the first rotating wheel and the second rotating wheel are relatively rotatably provided on the first telescopic rod 132; the third transmission belt is movably provided between the first rotating wheel and the second rotating wheel and is connected to the carrier bracket 111; when the first telescopic rod 132 moves relative to the carrier bracket 111, the second telescopic rod 134 is synchronously driven to move through the second transmission belt mechanism 133. Specifically, an over-limit sensor 1341 is fixedly provided at the tail end of the second telescopic rod 134, and the over-limit sensor 1341 senses in real time whether the cylindrical carrier 30 exceeds the second telescopic rod 134.

[0025] See also Figure 1-Figure 4As shown, in this embodiment, the barrier rod assembly 14 includes a second drive motor 141, a barrier rod body 142, a slot 143, a first barrier rod sensor 144 and a second barrier rod sensor 145; the second drive motor 141 is fixedly arranged on one of the second telescopic rods 134; the barrier rod body 142 is transmission-connected to the second drive motor 141, and the second drive motor 141 drives the barrier rod body 142 to rotate; the slot 143 is fixedly arranged on the other second telescopic rod 134 relative to the second drive motor 141, and the second drive motor 141 drives the barrier rod body 142 to be detachably engaged on the card slot 143, thereby closing the tail ends of the two second telescopic rods 134; the first barrier rod sensor 144 is fixedly set on the second telescopic rod 134 on the same side as the second drive motor 141 and is set on the side of the barrier rod body 142, and it performs real-time sensing operations on the vertical state of the barrier rod body 142; the second barrier rod sensor 145 is fixedly set on the side of the card slot 143, and it performs real-time sensing operations on the horizontal engagement state of the barrier rod body 142.

[0026] See also Figure 5 and Figure 6 As shown, an automatic guided transport vehicle applied to a cylindrical carrier of the present invention includes any of the above-mentioned docking mechanisms 10 and an AGV body 20; the AGV body 20 is connected to the docking mechanism 10 by transmission, the AGV body 20 pulls the docking mechanism 10 to move, and a plurality of cylindrical carriers 30 are sequentially arranged in the docking mechanism 10. Specifically, a connecting plate 21 is provided on the AGV body 20, and the AGV body 20 is connected to the docking mechanism 10 by transmission through the connecting plate 21; the cylindrical carrier 30 includes a carrier body 31 and a plurality of second sliding wheels 32, the carrier body 31 is a hollow cavity, and the plurality of second sliding wheels 32 are movably arranged at the bottom of the carrier body 31, and the plurality of second sliding wheels 32 facilitate the transfer operation of the carrier body 31. Specifically, the AGV body 20 adopts the existing technology, so its specific structure and working process are not described here, as long as it meets the requirements of this application.

[0027] Please note that Figure 7As shown, the specific working process of a docking mechanism and an automatic guided transport vehicle applied to a cylindrical carrier of the present invention is as follows: when the automatic guided transport vehicle is required to transport multiple cylindrical carriers 30, the AGV body 20 autonomously moves to the storage position of the multiple cylindrical carriers 30 through a planned path and starts to retreat, and the U-shaped carrier bracket 111 that matches the size of the cylindrical carrier 30 moves toward the multiple cylindrical carriers 30 until the material sensor 1112 is triggered by the cylindrical carrier 30, and the AGV body 20 stops the retreat operation; then the first drive motor 122 rotates forwardly and drives the transmission shaft 124 to rotate through the first transmission belt 123, and the transmission shaft 124 synchronously drives the two first transmission belt mechanisms 131 to rotate, and the two first transmission belt mechanisms 131 respectively drive the first telescopic rod 132 to extend, and since one side of the second transmission belt mechanism 133 is connected to the carrier bracket 111, the first telescopic rod 132 extends while driving the second transmission belt mechanism 133 to move, and the second The transmission belt mechanism 133 drives the corresponding second telescopic rod 134 to extend synchronously. When the first telescopic rod 132 is extended to the position of the second in-position sensor 1114, it is triggered and the first drive motor 122 stops moving. At this time, the middle space of the two telescopic fork assemblies 13 in the extended state has completely wrapped the multiple cylindrical carriers 30. When the over-limit sensor 1341 is not blocked and triggered by the cylindrical carrier 30, the second drive motor 141 starts to work. The second drive motor 141 drives the barrier rod body 142 to rotate from a vertical state to a horizontal lying state. The first barrier rod sensor 144 is released from the trigger state until the barrier rod body 142 is engaged in the card slot 143. The second barrier rod sensor 145 is triggered, and the second drive motor 141 stops working. At this time, the barrier rod body 142 is just engaged in the card slot 143, thereby completing the closed wrapping of the multiple cylindrical carriers 30, and then the AGV body 20 transfers the multiple cylindrical carriers 30 to the preset position through the planned path. Generally, the telescopic fork assembly 13 is in a retracted state, and the first in-position sensor 1113 is in a triggered state. At this time, the volume of the automated guided vehicle is small and it is more convenient to move.

[0028] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0029] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A docking mechanism for a cylindrical carrier, characterized in that: include: A carrier assembly, which is a hollow cavity with an open end; A driving assembly, which is arranged on the carrying assembly; Two telescopic fork assemblies, both of which are symmetrically telescopically arranged on the carrying assembly and are respectively transmission-connected to the driving assembly; A barrier rod assembly, which is movably arranged at the rear ends of the two telescopic fork assemblies, and the barrier rod assembly and the carrier assembly together form a closed cavity; Among them, the telescopic fork assembly includes a first transmission belt mechanism, which is movably arranged on the carrying assembly and is transmission-connected to the driving assembly; a first telescopic rod transmission-connected to the first transmission belt mechanism and slidably arranged on the carrying assembly; a second transmission belt mechanism arranged on the first telescopic rod and connected to the carrying assembly; and a second telescopic rod slidingly arranged on the first telescopic rod and transmission-connected to the second transmission belt mechanism.

2. A docking mechanism for a cylindrical carrier according to claim 1, characterized in that: The carrier assembly comprises a carrier support which is a hollow U-shaped cavity, the inner cavity of which matches the size of the cylindrical carrier; and a plurality of first sliding wheels arranged at the bottom of the carrier support are respectively rotated.

3. A docking mechanism for a cylindrical carrier according to claim 2, characterized in that: First guide rails are fixedly arranged on the opposite inner sides of the carrying bracket, and two first transmission belt mechanisms are slidably arranged on the two first guide rails.

4. A docking mechanism for a cylindrical carrier according to claim 2, characterized in that: A material sensor is arranged at the inner front end of the carrier bracket; a first in-position sensor and a second in-position sensor are also arranged on the carrier bracket respectively.

5. The docking mechanism for a cylindrical carrier according to claim 2, characterized in that: The driving assembly comprises a fixing seat, which is fixedly arranged on the carrying bracket; a first driving motor fixedly arranged on the fixing seat, which can rotate forward and reverse; A transmission shaft rotatably arranged on the carrying bracket and respectively connected to the two telescopic fork assemblies; and a first transmission belt arranged between the first driving motor and the transmission shaft.

6. A docking mechanism for a cylindrical carrier according to claim 5, characterized in that: The first transmission belt mechanism includes a driving wheel fixedly arranged on the transmission shaft; a driven wheel rotatably arranged on the carrying bracket; a second transmission belt movably arranged between the driving wheel and the driven wheel, and the first telescopic rod is fixedly connected to the second transmission belt.

7. A docking mechanism for a cylindrical carrier according to claim 2, characterized in that: The second transmission belt mechanism comprises a first rotating wheel and a second rotating wheel which are relatively rotatably arranged on the first telescopic rod; and a third transmission belt which is movably arranged between the first rotating wheel and the second rotating wheel and connected to the carrying bracket.

8. The docking mechanism for a cylindrical carrier according to claim 1, characterized in that: The barrier rod assembly includes a second drive motor, which is fixedly mounted on one of the second telescopic rods; A barrier rod main body drivingly connected to the second driving motor; a slot fixedly arranged on the other second telescopic rod opposite to the second driving motor, and the barrier rod main body can be detachably engaged with the slot; a first barrier rod sensor fixedly arranged on the second telescopic rod on the same side as the second driving motor and arranged on the side of the barrier rod main body; and a second barrier rod sensor fixedly arranged on the side of the slot.

9. The docking mechanism for a cylindrical carrier according to claim 1, characterized in that: At least one laser radar is arranged on the carrying assembly or the telescopic fork assembly.

10. An automatic guided vehicle for use with a cylindrical carrier, characterized in that: It comprises the docking mechanism and the AGV body as described in any one of claims 1 to 9; the AGV body is transmission-connected with the docking mechanism.

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