Automated guided vehicle and method for connecting automated guided vehicle with trailer

Abstract

The invention relates to an automated guided vehicle and a trailer connecting method thereof. An automated guided vehicle comprises a driving vehicle and a clamping mechanism, and the clamping mechanism comprises a lifting arm rotatably arranged on the driving vehicle; the cantilever is arranged at the end of the lifting arm, and the lifting arm can drive the cantilever to ascend and descend; the supporting seat is arranged on the cantilever; the hook is arranged at the end of the supporting seat and can abut against a frame of the trailer; the extrusion block is used for providing clamping force for clamping the frame of the trailer; and the driving assembly is arranged on the supporting base, the extrusion block is connected with the driving assembly, and the driving assembly drives the extrusion block to at least horizontally move so as to provide clamping force for clamping the frame of the trailer. The clamping mechanism is simple in structure, the extrusion block and the hook jointly act to clamp the frame of the trailer, and connection and separation of the automatic guide vehicle and the trailer are facilitated.

Description

Technical Field

[0001] The present application relates to the field of intelligent mobile devices, and in particular to an automatic guided vehicle and a method for connecting the same to a trailer. Background Art

[0002] Mobile robots are increasingly used, but they struggle to transport large quantities or heavy items. For example, transporting large quantities of raw materials on a production line is difficult for mobile robots. To transport large quantities of items, the items can be placed on a trailer and towed by an automated guided vehicle (AGV). However, the connection between existing AGVs and trailers is complex, increasing production and maintenance costs. Summary of the Invention

[0003] Based on the above problems, the present application provides an automatic guided vehicle, which uses a clamping mechanism to clamp the frame of the trailer, making it easier for the automatic guided vehicle to connect to the trailer.

[0004] According to one aspect of the present application, an automatic guided vehicle is provided for towing a trailer. The automatic guided vehicle comprises: a driving vehicle and a clamping mechanism, wherein the clamping mechanism comprises:

[0005] a lifting arm rotatably mounted on the driving vehicle;

[0006] A cantilever, comprising a first vertical portion and a first horizontal portion, wherein the first vertical portion is provided at the end of the lifting arm, and the first horizontal portion is fixedly connected to a side wall of the first vertical portion, and the lifting arm is capable of driving the cantilever to move up and down;

[0007] A support seat is provided on the cantilever;

[0008] a hook, disposed at an end of the support base, the hook being capable of abutting against a frame of the trailer;

[0009] a squeeze block for providing a clamping force for clamping the frame of the trailer;

[0010] A driving assembly is arranged on the support seat, the extrusion block is connected to the driving assembly, and the driving assembly drives the extrusion block to at least move horizontally to provide a clamping force for clamping the frame of the trailer.

[0011] According to some embodiments of the present application,

[0012] The support base comprises:

[0013] a second horizontal portion connected to the first horizontal portion, wherein the hook is provided at an end portion of the second horizontal portion;

[0014] The second vertical portion is connected to the second horizontal portion, and the driving assembly is arranged on the second vertical portion.

[0015] According to some embodiments of the present application, the driving assembly includes:

[0016] A base member, arranged on the support seat;

[0017] a first connecting rod, one end of which is hinged to the base member;

[0018] a second connecting rod, one end of which is hinged to the base member, and the second connecting rod is parallel to the first connecting rod;

[0019] a push block, hinged to the other end of the first connecting rod and the other end of the second connecting rod respectively, and the extrusion block is arranged on the push block;

[0020] The driver has one end hinged to the support seat and the other end hinged to the push block. The driver can drive the push block to move tilted relative to the horizontal direction.

[0021] According to some embodiments of the present application, the extrusion block is provided with a through hole, and the clamping mechanism further includes: a first sensor, which is located in the through hole and connected to the push block.

[0022] According to some embodiments of the present application, the hook includes:

[0023] A support portion, disposed at an end portion of the support seat;

[0024] At least two hooks, wherein the two hooks are respectively located on two sides of the support portion.

[0025] According to some embodiments of the present application, the length of the support portion is greater than the length of the extrusion block.

[0026] According to some embodiments of the present application, the clamping mechanism further includes a second sensor, which is disposed on the cantilever and is used to determine the position of the cantilever.

[0027] According to some embodiments of the present application, the end of the support seat connected to the hook is hinged to the cantilever, and the clamping mechanism also includes an elastic member, one end of the elastic member is connected to the cantilever, and the other end of the elastic member is connected to the support seat.

[0028] According to some embodiments of the present application, the material hardness of the extrusion block is less than the material hardness of the frame of the trailer.

[0029] According to one aspect of the present application, there is provided a method for connecting the above-mentioned automatic guided vehicle to a trailer, comprising:

[0030] Move the automated guided vehicle to a preset position;

[0031] The lifting arm of the clamping mechanism drives the cantilever arm down until the hook is located below the frame of the trailer;

[0032] The automatic guided vehicle moves toward the trailer so that the frame of the trailer is located between the hook and the extrusion block;

[0033] The lifting arm drives the cantilever arm to rise until the hook can abut against the side wall of the trailer frame;

[0034] The extrusion block is driven to approach the frame of the trailer, and the hook and the extrusion block clamp the frame of the trailer.

[0035] The clamping mechanism of the present application has a simple structure and is easy to maintain. The driving assembly drives the extrusion block to move at least horizontally. The extrusion block and the hook work together to clamp the frame of the trailer, which facilitates the connection and separation of the automatic guided vehicle and the trailer and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without exceeding the scope of protection required by this application.

[0037] Figure 1 is a schematic diagram of an automated guided vehicle connected to a trailer according to an embodiment of the present application;

[0038] Figure 2 is a schematic diagram of a clamping mechanism according to an embodiment of the present application;

[0039] Figure 3 is a schematic diagram of a lifting arm and a cantilever according to an embodiment of the present application;

[0040] Figure 4 Schematic diagram of the cantilever and support base of an embodiment of the present application;

[0041] Figure 5 is a schematic diagram of a drive assembly according to an embodiment of the present application;

[0042] Figure 6 Schematic diagram of the third rotating shaft of the telescopic rod of the actuator according to an embodiment of the present application;

[0043] Figure 7 is a schematic diagram of a hook and an extrusion block according to an embodiment of the present application;

[0044] Figure 8 is a schematic diagram of an elastic member according to an embodiment of the present application;

[0045] Figure 9 It is a schematic diagram of the rotation of the support base in an embodiment of the present application;

[0046] Figure 10 is a schematic diagram of a camera according to an embodiment of the present application;

[0047] Figure 11 This is a flow chart of a method for connecting an automated guided vehicle to a trailer according to an embodiment of the present application. DETAILED DESCRIPTION

[0048] The following is a clear and complete description of the technical solution of this application in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making any creative efforts are within the scope of protection of this application.

[0049] like Figure 1 As shown, an embodiment of the present application provides an automated guided vehicle 100, which is used to tow a trailer 200. The trailer 200 can carry items, and the automated guided vehicle 100 tows the trailer 200 to a designated location to transport the items.

[0050] The bottom of the trailer 200 is provided with a frame 210, and the bottom of the frame 210 is provided with multiple rollers, which can be universal wheels. The automated guided vehicle 100 includes a drive vehicle 110 and a clamping mechanism 120. The drive vehicle 110 is an existing intelligent drive vehicle. The clamping mechanism 120 is installed on the top of the drive vehicle 110 and can clamp the trailer frame 210 to achieve the connection between the automated guided vehicle 100 and the trailer 200.

[0051] like Figure 2 As shown, the clamping mechanism 120 includes: a lifting arm 1, a cantilever 2, a support base 3, a hook 4, an extrusion block 5 and a driving assembly 6.

[0052] like Figure 3 As shown, a lifting arm 1 is rotatably mounted on top of a drive vehicle 110. The lifting arm 1 can utilize existing structures. A boom 2 is mounted at the end of the lifting arm 1. A lifting actuator 11 of the lifting arm 1 is positioned between two parallel links 12, with the boom 2 articulated to the ends of each of the two parallel links 12. The operation of the lifting actuator 11 is controlled by a controller on the drive vehicle 110. The extension and retraction of the telescopic rod of the lifting actuator 11 drives the boom 2 up and down.

[0053] Support base 3 is mounted on cantilever 2. Hook 4 is mounted at the end of support base 3 and is capable of abutting against one sidewall of frame 210. Extrusion block 5 is movably mounted on support base 3 and is capable of abutting against the other sidewall of frame 210 to provide a clamping force for clamping frame 210.

[0054] The drive assembly 6 is mounted on the support base 3, and the extrusion block 5 is connected to the drive assembly 6. The drive assembly 6 can drive the extrusion block 5 to at least horizontally move. For example, the drive assembly 6 can drive the extrusion block 5 to move diagonally downward. The movement of the extrusion block 5 includes a horizontal component. The movement of the extrusion block 5 can cause the extrusion block 5 to abut against the trailer frame 210, providing a clamping force to the frame 210.

[0055] The process of connecting the automatic guided vehicle 100 to the trailer 200 includes:

[0056] The driving vehicle 110 moves to a preset position, and the lifting arm 1 rotates until the boom 2 faces the trailer 200. Optionally, a sensor is used to detect the relative position of the boom 2 and the trailer 200.

[0057] The lifting arm 1 drives the cantilever 2 to descend until the top end of the hook 4 is located below the frame 210 of the trailer.

[0058] The driving vehicle 110 is slightly moved toward the direction close to the trailer 200 so that the frame 210 is located between the hook 4 and the extrusion block 5. For example, a sensor is used to detect the distance between the cantilever 2 and the frame 210 so that the frame 210 is located between the hook 4 and the extrusion block 5.

[0059] The lifting arm drives the cantilever to rise until the top of the hook 4 is higher than the bottom surface of the frame 210 , so that the hook 4 can abut against the side wall of the frame 210 .

[0060] The extrusion block 5 is driven to approach the frame 210 , and the hook 4 and the extrusion block 5 clamp the frame 210 , completing the connection between the automatic guided vehicle 100 and the trailer 200 .

[0061] The clamping mechanism 120 of the present application has a simple structure. The extrusion block 5 and the hook 4 work together to clamp the frame 210, which facilitates the connection and separation of the automatic guided vehicle 100 and the trailer 200 and improves work efficiency.

[0062] like Figure 4 As shown, in some embodiments, both the cantilever arm 2 and the support base 3 are generally L-shaped. The cantilever arm 2 includes a first vertical portion 21 and a first horizontal portion 22. The first vertical portion 21 is connected to the end of the lifting arm 1. For example, the first vertical portion 21 is hinged to the two parallel connecting rods 12 of the lifting arm 1. The first horizontal portion 22 is fixedly mounted at the bottom end of the side wall of the first vertical portion 21. Optionally, the first vertical portion 21 and the first horizontal portion 22 are integrally formed.

[0063] The support base 3 includes a second horizontal portion 31 and a second vertical portion 32. The second horizontal portion 31 is connected to the first horizontal portion 22, for example, the second horizontal portion 31 is fixedly connected to the first horizontal portion 22. The hook 4 is disposed at the end of the second horizontal portion 31 away from the first vertical portion 21. The second vertical portion 32 is connected to the second horizontal portion 31, for example, the second vertical portion 32 is disposed at the end of the second horizontal portion 31 closer to the first vertical portion 21. The drive assembly 6 is disposed on the second vertical portion 32.

[0064] like Figure 5 As shown, in some embodiments, the driving assembly 6 includes: a base member 61 , a first connecting rod 62 , a second connecting rod 63 , a push block 64 and a driver 65 .

[0065] The base member 61 is arranged on the support seat 3. For example, the base member 61 is arranged at the bottom end of the second vertical portion 32. Optionally, the base member 61 is integrally formed with the support seat 3. One end of the first connecting rod 62 is hinged to the base member 61 through a first rotating shaft 661. One end of the second connecting rod 63 is hinged to the base member 61 through a second rotating shaft 662, and the second connecting rod 63 is parallel to the first connecting rod 61. The top end of the push block 64 is hinged to the other end of the first connecting rod 62 through a third rotating shaft 663, and the bottom end of the push block 64 is hinged to the other end of the second connecting rod 63 through a fourth rotating shaft 664. The extrusion block 5 is arranged on the surface of the push block 64 away from the base member 61.

[0066] like Figure 6 As shown, the actuator 65 comprises a cylinder and a telescopic rod. The end of the cylinder is hingedly connected to the second vertical portion 32 of the support base 3 via a fifth rotating shaft 665. The telescopic rod is hingedly connected to the push block 64. For example, a third rotating shaft 663 passes through the telescopic rod to articulate the telescopic rod and the push block 64. The actuator 65 is controlled by a controller of the drive vehicle 110 and is capable of driving the push block 64 to move tilted relative to the horizontal. For example, when the telescopic rod is extended, the push block 64 tilts downward, causing the extrusion block 5 to press against the frame 210. When the telescopic rod is retracted, the push block 64 tilts upward, moving the extrusion block 5 away from the frame 210.

[0067] like Figure 7 As shown, in some embodiments, the extrusion block 5 is provided with a through hole 51. The clamping mechanism 120 further includes: a first sensor 9, the first sensor 9 is located in the through hole 51, and the first sensor 9 is provided on the push block 64. The first sensor 9 is communicatively connected with the controller of the driving vehicle 110. Optionally, the first sensor 9 is a camera that can scan the QR code on the trailer 200 to confirm whether the trailer 200 is a trailer that needs to be towed by the automatic guided vehicle 100. In another embodiment, the first sensor 9 is a distance measuring sensor that can detect whether the extrusion block 5 is abutting the frame 210. As Figure 8As shown, in some embodiments, the hook 4 includes a support portion 41 and at least two hooks 42. The support portion 41 is disposed at an end of the support base 3, for example, the support portion 41 is securely connected to the second horizontal portion 31. The two hooks 42 are located on either side of the support portion 41, with the top surfaces of the hooks 42 being higher than the top surface of the support portion 41. The hooks 42 are capable of abutting against the sidewalls of the frame 210. The two hooks 42 and the extrusion block 5 together clamp the frame 210, achieving a stable connection between the automated guided vehicle 100 and the trailer 200.

[0068] In some embodiments, the length D1 of the support portion 42 is greater than the length D2 of the extrusion block 5 . The extrusion block 5 is located between the two hooks 42 , which helps to improve the stability of clamping the two hooks 42 .

[0069] like Figure 2 As shown, in some embodiments, the clamping mechanism 120 further includes a second sensor 7, which is disposed at the top of the cantilever 2 and is communicatively connected to the controller of the drive vehicle 110. Optionally, the second sensor 7 is used to detect the position of the trailer 200. For example, when the automated guided vehicle 100 is connected to the trailer 200, the second sensor 7 can detect the distance between the cantilever 2 and the frame 210 and determine whether the cantilever 2 is facing the trailer 200, thereby moving the cantilever 2 to a preset position. Optionally, the second sensor 7 is any one of an infrared ranging sensor, an ultrasonic sensor, a laser radar, and a visual sensor. During the movement of the trailer 200, the second sensor 7 can detect whether items on the trailer 200 have fallen or whether the trailer 200 has encountered an obstacle. If the second sensor 7 detects that an item on the trailer 200 has fallen, the automated guided vehicle 100 issues an alarm based on the detection signal of the second sensor 7. If the second sensor 7 detects that there is an obstacle in front of the trailer 200, the controller of the driving vehicle 110 drives the trailer 200 to move in a direction that can avoid the obstacle based on the detection information of the second sensor 7.

[0070] like Figure 4 and Figure 9 As shown, the end of the support base 3 connected to the hook 4 is hingedly connected to the cantilever 2. For example, the second horizontal portion 31 is connected to the first horizontal portion 22 via a rotating shaft 23, allowing the support base 3 to rotate about a horizontal axis. The clamping mechanism 120 also includes an elastic member 8, one end of which is connected to the cantilever 2 and the other end of which is connected to the support base 3. Optionally, the elastic member 8 is a spring. The cantilever 2 is provided with a fixing rod 24, one end of which is connected to the side wall of the second vertical portion 32 and the other end of which is connected to the fixing rod 24.

[0071] like Figure 10 As shown, Figure 10The middle arrow indicates the rotation direction of the support base 3. When the AGV 100 tows the trailer 200 over an uneven surface, the top of the support base 3 rotates away from the first vertical portion 22. The hook 4, squeeze block 5, and drive assembly 6 rotate with the support base 3 to compensate for the uneven surface. Simultaneously, the elastic member 8 stretches and deforms. After traversing the uneven surface, the elastic force of the elastic member 8 pulls the support base 3 back to its original position.

[0072] In some embodiments, the hardness of the material of the extrusion block 5 is less than that of the material of the frame 210. For example, the material of the extrusion block 5 is polycarbonate (PC) or rubber, and the material of the frame 210 is metal. When the extrusion block 5 clamps the frame 210, the extrusion block 5 can produce elastic deformation to improve the stability of the clamping frame 210.

[0073] like Figure 11 As shown, an embodiment of the present application provides a method for connecting an automated guided vehicle 100 to a trailer 200, comprising:

[0074] S1. Move the automatic guided vehicle 100 to a preset position.

[0075] For example, the driving vehicle 110 is automatically controlled to move near the trailer 200, the lifting arm 1 rotates until the cantilever 2 faces the trailer 200, and the second sensor 7 detects the relative position of the cantilever 2 and the trailer 200, so that the distance between the cantilever 2 and the trailer 200 is a preset value.

[0076] S2. The lifting arm 1 of the clamping mechanism 120 drives the cantilever 2 to descend until the top end of the hook 4 is located below the frame 210 of the trailer.

[0077] S3 : The automatic guided vehicle 100 moves slightly toward the trailer 200 so that the frame 210 of the trailer is located between the hook 4 and the extrusion block 5 .

[0078] For example, the second sensor 7 is used to detect the distance between the boom 2 and the frame 210 of the trailer, so that the frame 210 of the trailer is located between the hook 4 and the extrusion block 5 .

[0079] S4. The lifting arm 1 drives the cantilever 2 to rise until the hook 4 can abut against the side wall of the frame 210 of the trailer.

[0080] For example, the boom 2 rises until the top surface of the support portion 41 of the hook 4 abuts against the bottom surface of the trailer frame 210 , and the top surface of the hook body 42 is higher than the bottom surface of the trailer frame 210 .

[0081] S5 , driving the extrusion block 5 to approach the frame 210 of the trailer, the hook 4 and the extrusion block 5 clamp the frame 210 of the trailer, and completing the connection between the automatic guided vehicle 100 and the trailer 200 .

[0082] For example, the first sensor 9 detects the distance between the pressing block 5 and the frame 210 to confirm whether the pressing block 5 abuts against the frame 210 .

[0083] When the automated guided vehicle 100 and the trailer 200 are needed, the reverse operation is performed.

[0084] The embodiments of the present application are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only intended to help understand the technical solutions and core concepts of the present application. Therefore, changes or modifications made by those skilled in the art based on the concepts of the present application, the specific implementation methods, and the scope of application of the present application, all fall within the scope of protection of the present application. In summary, the contents of this specification should not be construed as limiting the present application.

Claims

1. An automatic guided vehicle for towing a trailer, characterized in that: include: A driving vehicle and a clamping mechanism, wherein the clamping mechanism comprises: a lifting arm rotatably mounted on the driving vehicle; A cantilever, comprising a first vertical portion and a first horizontal portion, wherein the first vertical portion is provided at the end of the lifting arm, and the first horizontal portion is fixedly connected to a side wall of the first vertical portion, and the lifting arm is capable of driving the cantilever to move up and down; A support seat is provided on the cantilever; a hook, disposed at an end of the support base, the hook being capable of abutting against the frame of the trailer; a squeeze block for providing a clamping force for clamping the frame of the trailer; A driving assembly is arranged on the support seat, the extrusion block is connected to the driving assembly, and the driving assembly drives the extrusion block to at least move horizontally to provide a clamping force for clamping the frame of the trailer.

2. The automatic guided vehicle according to claim 1, characterized in that The support base comprises: a second horizontal portion connected to the first horizontal portion, wherein the hook is provided at an end portion of the second horizontal portion; The second vertical portion is connected to the second horizontal portion, and the driving assembly is arranged on the second vertical portion.

3. The automatic guided vehicle according to claim 1, characterized in that The drive assembly includes: A base member, arranged on the support seat; a first connecting rod, one end of which is hinged to the base member; a second connecting rod, one end of which is hinged to the base member, and the second connecting rod is parallel to the first connecting rod; a push block, hinged to the other end of the first connecting rod and the other end of the second connecting rod respectively, and the extrusion block is arranged on the push block; The driver has one end hinged to the support seat and the other end hinged to the push block. The driver can drive the push block to move tilted relative to the horizontal direction.

4. The automatic guided vehicle according to claim 3, characterized in that The extrusion block is provided with a through hole, and the clamping mechanism further includes: a first sensor, which is located in the through hole and connected to the pushing block.

5. The automatic guided vehicle according to claim 1, characterized in that The hook includes: A support portion, disposed at an end portion of the support seat; At least two hooks, wherein the two hooks are respectively located on two sides of the support portion.

6. The automatic guided vehicle according to claim 5, characterized in that The length of the supporting portion is greater than the length of the extrusion block.

7. The automated guided vehicle according to claim 1, wherein: The clamping mechanism further includes a second sensor, which is arranged on the cantilever.

8. The automated guided vehicle according to claim 1, wherein: The end portion of the support seat connected to the hook is hinged to the cantilever, and the clamping mechanism further comprises an elastic member, one end of the elastic member is connected to the cantilever, and the other end of the elastic member is connected to the support seat.

9. The automated guided vehicle according to claim 1, wherein: The material hardness of the extrusion block is less than the material hardness of the frame of the trailer.

10. A method for connecting an automated guided vehicle according to any one of claims 1 to 9 to a trailer, characterized in that: include: Moving the automatic guided vehicle to a preset position; The lifting arm of the clamping mechanism drives the cantilever arm to descend until the hook is located below the frame of the trailer; The automatic guided vehicle moves toward the trailer so that the frame of the trailer is located between the hook and the extrusion block; The lifting arm drives the cantilever arm to rise until the hook can abut against the side wall of the trailer frame; The extrusion block is driven to approach the frame of the trailer, and the hook and the extrusion block clamp the frame of the trailer.

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