An automatic passing system and control method for AGV passing through flat car track groove

Abstract

The application discloses an automatic passing system and control method for AGV crossing flat car tracks, comprising: two long and strip-shaped recessed flat car tracks are arranged on the upper surface of the flat car track foundation along the width direction; two lifting mechanisms are respectively fixedly installed in the recesses of the corresponding flat car tracks; each lifting mechanism comprises an L-shaped bearing platform and a driving device for driving the bearing platform to lift; a fixed steel plate is fixedly arranged on the flat car track foundation between the two flat car tracks, and the two ends of the fixed steel plate extend above the corresponding lifting mechanism; when the bearing platform is lowered, the extended part of the fixed steel plate covers the upper surface of the horizontal part of the bearing platform, and the two parts jointly form a composite recess with the width equal to that of the original flat car track recess; the width of the vertical section of the bearing platform is equal to that of the composite recess; when the bearing platform is lifted, the upper surface of the vertical section is flush with the upper surfaces of the flat car track foundation and the fixed steel plate, thereby forming a continuous road surface.

Description

Technical Field

[0001] This invention belongs to the field of rail transit technology, specifically relating to an automatic passage system and control method for AGVs to pass through the grooves of flatcar tracks. Background Technology

[0002] With the intelligent upgrading of the manufacturing industry, the demand for automated material and tool delivery in workshops such as heavy machinery processing is increasing. Automated Guided Vehicles (AGVs) have become key equipment for realizing automated logistics and handling within workshops due to their flexibility and efficiency.

[0003] However, in some traditional workshops (especially heavy-duty workshops), flatbed tracks are often pre-embedded in the floor to facilitate the manual handling and turnover of large workpieces. These tracks typically consist of two parallel, grooved steel rails, with the grooves commonly measuring 60mm wide x 80mm deep. This design, intended for manually operated flatbed carts with guide wheels, presents a significant challenge to the automated passage of AGVs.

[0004] Specifically, the left and right wheels of the AGV are positioned exactly to correspond to the two grooves in the track. Since the diameter of a standard AGV wheel is often smaller than the depth of the track groove, when the AGV attempts to pass through, the wheel will get stuck in the groove, causing its movement to be obstructed, its positioning to be inaccurate, and even damage to the vehicle structure, seriously hindering the continuous operation of the automated delivery process.

[0005] How to achieve seamless, automatic, and safe passage of AGVs in the track groove area without affecting the original flatcar operation has become a technical problem that urgently needs to be solved in the automation transformation of workshop logistics. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by providing a compact, intelligently controlled automatic passage system and control method for AGVs to cross flatcar tracks. This system, through the dynamic cooperation of a support platform and a fixed steel plate, automatically constructs a smooth and continuous passage surface for AGVs without interfering with the original flatcar passage function.

[0007] The technical objective of this invention is achieved through the following technical solution: An automated passage system for AGVs crossing flatcar tracks includes: a flatcar track base with two elongated groove-shaped flatcar tracks spaced apart along its width on its upper surface; two lifting mechanisms, each fixedly installed in a corresponding flatcar track groove, each lifting mechanism including an L-shaped support platform and a drive device for lifting the support platform; the width of the support platform corresponds to the width of the flatcar track groove; the width of the flatcar track groove is greater than the original width of the flatcar track groove; a fixed steel plate, fixedly installed on the flatcar track base between the two flatcar tracks, with both ends extending upwards towards the corresponding lifting mechanisms; when the support platform descends, the extended portion of the fixed steel plate covers the upper surface of the horizontal portion of the support platform, forming a composite groove with a width smaller than the width of the support platform; the width of the composite groove is equal to the width of the original flatcar track groove; when the support platform rises, the upper surface of the vertical section of the support platform is flush with the upper surface of the flatcar track base and the upper surface of the fixed steel plate, forming a continuous road surface.

[0008] Preferably, the lifting mechanism includes a base fixed in the groove of the flatcar track, and the base is hinged to the bearing platform by a first hinge link and a second hinge link arranged symmetrically at intervals; the driving device is provided between the first hinge link and the second hinge link; the driving device is an electric push rod; one end of the electric push rod is hinged to the base, and the other end is hinged to the bearing platform.

[0009] Preferably, it also includes a signal interaction and control system, which includes a first communication module on the AGV, a lifting mechanism signal device on the flatcar track foundation, and a control unit; the lifting mechanism signal device is located on one side of the fixed steel plate.

[0010] Preferably, the fixed steel plate is provided with a through hole, and the system also includes a status indicator light, which is installed on the flatcar track foundation and exposed to the outside through the through hole.

[0011] A control method for an automated passage system for AGVs crossing flatcar tracks, as described above, includes the following steps: Signal triggering steps: When the AGV travels to the area near the flatcar track, the signal interaction and control system is triggered; Platform lifting steps: The signal interaction and control system controls the two lifting mechanisms to simultaneously lift their supporting platforms, so that the upper surface of the vertical section is flush with the upper surface of the flatcar track foundation and the upper surface of the fixed steel plate, forming a continuous road surface; AGV passage steps: The AGV travels across the continuous road surface; Platform reset procedure: After the AGV has completely passed through, the signal interaction and control system controls the lifting mechanism to lower its supporting platform.

[0012] Preferably, in the signal triggering step, the triggering condition is that the AGV enters a preset distance range, or the AGV establishes a communication connection with the lifting mechanism signal device.

[0013] Preferably, before the platform raising step, a safety confirmation step is included to detect whether there are obstacles in the flatcar track area.

[0014] Preferably, the platform reset step is triggered by receiving a departure signal from the AGV, or by detecting through a sensor that the AGV has left the continuous road surface.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This invention resolves the conflict of shared tracks between AGVs and flatcars: through the dynamic cooperation of an L-shaped support platform and a fixed steel plate, it achieves intelligent switching where "the platform rises to act as a bridge when an AGV passes, and lowers to act as a trough when a flatcar passes." This fundamentally solves the inherent contradiction that AGV wheels getting stuck in grooves and unable to pass, while simply filling the grooves would affect the use of the flatcar, thus enabling efficient and safe time-sharing sharing of the same track infrastructure for both transport modes.

[0016] The ingenious structural design minimizes disruption to existing facilities: it employs a design strategy of "expanding the mounting slot to accommodate the mechanism, then using a fixed steel plate to cover and optimize back to the original dimensions." While giving the track new functions, the design maximizes compatibility with existing flatcar operating habits, requiring minimal modification work and demonstrating high practicality.

[0017] High rigidity and smooth, reliable operation: The lifting mechanism employs symmetrically arranged first and second hinge links, working in conjunction with an electric push rod to directly drive the L-shaped load-bearing platform. This linkage mechanism converts the extension and retraction of the push rod into smooth vertical lifting and lowering of the platform, ensuring direct force transmission, high mechanical efficiency, and the ability to withstand repeated crushing by AGV wheels, thus guaranteeing long-term reliability.

[0018] It achieves fully automated intelligent control and safe interaction: Through a signal interaction and control system integrated into the AGV and flatbed track foundation, the platform can be automatically raised when the AGV approaches and automatically reset after passing, enabling fully unmanned operation. Combined with status indicator lights and optional safety confirmation steps (such as obstacle detection), the safety and automation level of the entire passage process are significantly improved, making it easy to integrate into the overall intelligent logistics system of the workshop. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 yes Figure 1 Assembly diagram; Figure 3 yes Figure 1 A schematic diagram showing the interaction between the lifting mechanism and the fixed steel plate after the lifting mechanism is raised. Figure 4 yes Figure 1 A schematic diagram of the lifting mechanism after resetting; Figure 5 yes Figure 4 A schematic diagram showing the interaction between the central lifting mechanism and the fixed steel plate after the lifting mechanism has been reset. Figure 6 This is a structural diagram of the lifting mechanism; Attached reference numerals: 1—flatcar track foundation; 11—flatcar track groove; 2—Lifting mechanism; 21—Bearing platform; 211—Vertical section; 212—Horizontal section; 22—Base; 231—First hinge link; 232—Second hinge link; 24—Electric push rod; 3—Fixed steel plate; 31—Through hole; 4—Lifting mechanism signal device; 5—Status indicator light. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0022] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0023] like Figures 1-6As shown, an automated passage system for AGVs crossing flatcar tracks includes: a flatcar track base 1, on which two elongated groove-shaped flatcar tracks are spaced apart along the width direction on its upper surface; two lifting mechanisms 2, respectively fixedly installed in the corresponding flatcar track grooves 11, each lifting mechanism 2 including an L-shaped support platform 21 and a driving device for lifting the support platform 21; the width of the support platform 21 corresponds to the width of the flatcar track groove 11; the width of the flatcar track groove 11 is greater than the original width of the flatcar track groove; a fixing steel plate 3, fixedly installed on the flatcar track base 1 between the two flatcar tracks, with both ends extending upwards towards the corresponding lifting mechanism 2; when the support platform 21 descends, the extended portion of the fixing steel plate 3 covers the upper surface of the horizontal portion 212 of the support platform 21, and the two together form a composite groove with a width smaller than the width of the support platform 21; the width of the composite groove is equal to the width of the original flatcar track groove; the width of the vertical portion 211 of the support platform 21 is equal to the width of the composite groove; when the support platform 21 rises, The upper surface of the vertical section 211 of the supporting platform 21 is made flush with the upper surface of the flatcar track foundation 1 and the upper surface of the fixing steel plate 3, forming a continuous road surface. This technical measure ensures that the AGV can pass smoothly through the track groove while satisfying the original flatcar passage function.

[0024] In practical use, assuming the width of the lifting mechanism 2 is 160mm, the width of the flatcar track groove 11 is correspondingly 160mm. The depth of the flatcar track groove 11 is 120mm. The width of the horizontal portion 212 of the supporting platform 21 of the lifting mechanism 2 is 160mm. The original flatcar track groove specifications are 60mm wide × 80mm deep. The width of the composite groove is equal to 60mm. The width of the vertical portion 211 of the supporting platform 21 is equal to 60mm; when the supporting platform 21 is raised, the upper surface of the vertical portion 211 of the supporting platform 21 is flush with the upper surface of the flatcar track foundation 1, and the upper surface of the vertical portion 211 is flush with the upper surface of the fixed steel plate 3, together forming a continuous road surface for the AGV to pass through.

[0025] like Figures 1-6As shown, the lifting mechanism 2 includes a base 22 fixed in the groove 11 of the flatbed track. The base 22 and the supporting platform 21 are hinged together by a first hinge link 231 and a second hinge link 232 symmetrically arranged at intervals. A driving device is provided between the first hinge link 231 and the second hinge link 232. The driving device is an electric push rod 24. One end of the electric push rod 24 is hinged to the base 22, and the other end is hinged to the supporting platform 21. In a specific implementation, the base 22 and the horizontal portion 212 of the supporting platform 21 are arranged parallel to each other. One end of the first hinge link 231 is hinged to the upper side of the base 22, and the other end is hinged to the lower side of the horizontal portion 212. One end of the second hinge link 232 is hinged to the upper side of the base 22, and the other end is hinged to the lower side of the horizontal portion 212. One end of the electric push rod 24 is hinged to the upper side of the base 22, and the other end is hinged to the lower side of the horizontal portion 212. The lifting mechanism 2 adopts a direct drive design with symmetrical hinge links and electric push rods 24. The structure is simple and the force transmission is efficient, ensuring the stability and reliability of the bearing platform 21 during the lifting process.

[0026] like Figure 1 As shown, it also includes a signal interaction and control system, which includes a first communication module on the AGV, a lifting mechanism signal device 4 on the flatcar track foundation 1, and a control unit; the lifting mechanism signal device 4 is located on one side of the fixed steel plate 3.

[0027] like Figure 1 As shown, the fixed steel plate 3 is provided with a through hole 31. The system also includes a status indicator light 5, which is installed on the flatcar track foundation 1 and exposed to the outside through the through hole 31.

[0028] In practical application, a control method for an automated passage system for AGVs crossing flatcar tracks includes the following steps: Signal triggering steps: When the AGV travels to the area near the flatcar track, the signal interaction and control system is triggered.

[0029] In actual use, the triggering condition in the signal triggering step is that the AGV enters a preset distance range, or the AGV establishes a communication connection with the lifting mechanism signal device 4.

[0030] Platform lifting steps: The signal interaction and control system controls the two lifting mechanisms 2 to lift their supporting platform 21 simultaneously, so that the upper surface of its vertical section 211 is flush with the upper surface of the flatcar track foundation 1 and the upper surface of the fixed steel plate 3, forming a continuous road surface.

[0031] In actual use, a safety confirmation step is also included before the platform is raised, which is used to detect whether there are obstacles in the flatcar track area.

[0032] AGV travel steps: The AGV travels across a continuous road surface; Platform reset procedure: After the AGV has passed through completely, the signal interaction and control system controls the lifting mechanism 2 to lower its supporting platform 21.

[0033] In actual use, the platform reset step is triggered when the AGV sends a departure signal or when the sensor detects that the AGV has left the continuous road surface.

[0034] The technical solutions provided by the embodiments of the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the embodiments of the present invention. The descriptions of the embodiments above are only for helping to understand the principles of the embodiments of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the embodiments of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. An automated passage system for AGVs crossing flatcar tracks, characterized in that, include: The flatcar track foundation has two long, grooved flatcar tracks spaced apart along its width on its upper surface. Two lifting mechanisms are fixedly installed in the corresponding flatcar track grooves. Each lifting mechanism includes an L-shaped support platform and a drive device for lifting the support platform. The width of the support platform corresponds to the width of the flatcar track groove. The width of the flatcar track groove is greater than the original width of the flatcar track groove. A fixed steel plate is fixedly installed on the flatcar track foundation between two flatcar tracks, with both ends extending upwards towards the corresponding lifting mechanism. When the carrying platform descends, the extended portion of the fixed steel plate covers the upper surface of the horizontal portion of the carrying platform, and the two together form a composite groove with a width smaller than the width of the carrying platform. The width of the composite groove is equal to the width of the original flatcar track groove. The width of the vertical section of the bearing platform is equal to the width of the composite groove; when the bearing platform is raised, the upper surface of the vertical section of the bearing platform is flush with the upper surface of the flatcar track foundation and the upper surface of the fixed steel plate, forming a continuous road surface.

2. The automated passage system for AGVs crossing flatcar tracks as described in claim 1, characterized in that, The lifting mechanism includes a base fixed in a groove in the flatcar track. The base and the support platform are hinged together by a first hinge link and a second hinge link that are symmetrically arranged at intervals. The driving device is provided between the first hinge link and the second hinge link. The driving device is an electric push rod. One end of the electric push rod is hinged to the base, and the other end is hinged to the support platform.

3. The automatic passage system for AGVs crossing flatcar tracks as described in claim 1, characterized in that, It also includes a signal interaction and control system, which includes a first communication module on the AGV, a lifting mechanism signal device on the flatcar track foundation, and a control unit; the lifting mechanism signal device is located on one side of the fixed steel plate.

4. The automated passage system for AGVs crossing flatcar tracks as described in claim 3, characterized in that, The fixed steel plate is provided with through holes, and the system also includes status indicator lights, which are installed on the flatcar track foundation and exposed to the outside through the through holes.

5. A control method for an automated passage system for AGVs crossing flatcar tracks, based on any one of claims 1 to 4, characterized in that, Includes the following steps: Signal triggering steps: When the AGV travels to the area near the flatcar track, the signal interaction and control system is triggered; Platform lifting steps: The signal interaction and control system controls the two lifting mechanisms to simultaneously lift their supporting platforms, so that the upper surface of the vertical section is flush with the upper surface of the flatcar track foundation and the upper surface of the fixed steel plate, forming a continuous road surface; AGV passage steps: The AGV travels across the continuous road surface; Platform reset procedure: After the AGV has completely passed through, the signal interaction and control system controls the lifting mechanism to lower its supporting platform.

6. The control method as described in claim 5, characterized in that, In the signal triggering step, the triggering condition is that the AGV enters a preset distance range, or the AGV establishes a communication connection with the lifting mechanism signal device.

7. The control method as described in claim 6, characterized in that, Before the platform is raised, a safety confirmation step is also included to detect whether there are any obstacles in the flatcar track area.

8. The control method as described in claim 7, characterized in that, The platform reset step is triggered when the platform receives a departure signal from the AGV or when the sensor detects that the AGV has left the continuous road surface.

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