Accompanying traction device, guide transport vehicle, material trolley and transport system

Abstract

The utility model relates to the technical field of logistics conveying, in particular to an accompanying traction device, a guide transport vehicle, a material trolley and a transport system.The accompanying traction device comprises a sliding assembly, a traction assembly and a traction assembly, the sliding assembly comprises a guide rail and a sliding block in sliding connection with the guide rail, and the guide rail is connected with a frame; the pushing assembly is connected with the sliding block so as to move between a first position and a second position; the pushing assembly comprises a pushing rod which is provided with an extending end extending out of the frame. The lifting assembly is arranged at the extending end of the push rod and comprises a liftable positioning pin, and in the first state, the push assembly moves from the first position to the second position, and the positioning pin ascends and is in butt joint with the material trolley; and in the second state, the positioning pin descends and is separated from the material trolley, and the pushing assembly returns to the first position from the second position. The accompanying traction device can be automatically in butt joint with or disengaged from the material trolley under guiding of guiding transportation, whole-process automatic stable operation is achieved, the fault rate is low, and the operation cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of material transportation, and in particular to a traveling traction device, a guided transport vehicle, a material trolley and a transport system. Background Art

[0002] During the automobile assembly process, a large number of parts are delivered to the line according to the production plan. In order to ensure the smooth operation of the flexible production line and ensure that the production line operators get the right materials for assembly at the right time and place, it is necessary to set up special equipment or a set parts supply (SPS) trolley to carry the materials and run synchronously with the automated guided vehicle (AGV). The current SPS trolley transportation method is prone to deviation during the walking process, has a high failure rate, and has high requirements for the walking route of the SPS trolley, resulting in a high investment cost. Utility Model Content

[0003] The purpose of the present application is to provide a traveling traction device, a guided transport vehicle, a material trolley and a transport system. Under the guidance of the guided transport, the traveling traction device can automatically dock or detach with the material trolley, thereby achieving fully automated and stable operation with a low failure rate and reduced operating costs.

[0004] In the first aspect, an embodiment of the present application provides a traveling traction device, which is detachably connected to the frame of a guide transport vehicle, and the traveling traction device includes: a sliding assembly, including a guide rail and a slider slidably connected to the guide rail, and the guide rail is connected to the frame; a pushing assembly, connected to the slider, so as to move between a first position and a second position; the pushing assembly includes a push rod, and the push rod has an extending end extending from the frame; and a lifting assembly, which is arranged at the extending end of the push rod, and the lifting assembly includes a liftable positioning pin, wherein, in a first state, the pushing assembly moves from the first position to the second position, the positioning pin rises, and docks with the material trolley; in the second state, the positioning pin descends, and disengages from the material trolley, and the pushing assembly returns from the second position to the first position.

[0005] According to the above-mentioned technical means, the accompanying traction device drives the pushing component to extend or retract relative to the frame through the sliding component. The protruding end of the push rod of the pushing component is provided with a lifting component, and the lifting component includes a liftable positioning pin. In the first state, the pushing component is extended relative to the frame, the positioning pin rises, and docks with the material trolley, so that the guide transport vehicle can run synchronously with the material trolley through the accompanying traction device; in the second state, the positioning pin descends and disengages from the material trolley, and the pushing component retracts relative to the frame to complete the conveying operation, thereby realizing full-process automated and stable operation with a low failure rate and reduced operating costs.

[0006] Furthermore, the lifting assembly also includes a first driving device and a lifting assembly, and the lifting assembly is connected between the positioning pin and the output shaft of the first driving device, so that the first driving device drives the positioning pin to rise and fall.

[0007] According to the above technical means, the lifting and lowering action of the positioning pin is realized by the first driving device and the jacking assembly, and the structure is simple and the processing accuracy requirement is low.

[0008] Furthermore, the positioning pin includes a first end and a second end arranged along the axial direction, and the first end is used to dock with the material cart; the lifting assembly includes a first fixing frame and a second fixing frame arranged at intervals along the length direction of the positioning pin, the protruding end of the push rod is fixedly connected to the first fixing frame, one end of the first fixing frame is fixedly connected to the first driving device, and the other end of the first fixing frame is sleeved on the outer peripheral side of the positioning pin; one end of the second fixing frame is connected to the output shaft of the first driving device, and the other end of the second fixing frame is connected to the second end of the positioning pin.

[0009] According to the above technical means, the jacking assembly transmits the output power of the first drive device to the positioning pin through the first fixing frame and the second fixing frame, and the force transmission path is short, the accuracy is high, and the response is fast.

[0010] Furthermore, the lifting assembly also includes a fixed plate, which is connected to the first fixed frame; a position monitoring assembly is arranged on the fixed plate along the lifting direction of the positioning pin, and the position monitoring assembly is used to monitor the rising position and the falling position of the positioning pin.

[0011] According to the above technical means, the accuracy of the lifting and lowering position of the positioning pin is further improved by using a position monitoring component.

[0012] Furthermore, the position monitoring component includes a first photoelectric sensor, a second photoelectric sensor and a shading component. The first photoelectric sensor and the second photoelectric sensor are arranged at intervals along the lifting direction of the positioning pin. The shading component includes a baffle connected to the second fixed frame. When the positioning pin is in the rising position, the baffle is located at the first photoelectric sensor for sending an ascending signal; when the positioning pin is in the descending position, the baffle is located at the second photoelectric sensor for sending a descending signal.

[0013] According to the above technical means, the lifting and lowering position of the positioning pin can be accurately determined by the first photoelectric sensor, the second photoelectric sensor and the baffle of the shading component, and the cost is low.

[0014] Furthermore, the shading assembly also includes a guide shaft, a first fixing member, a second fixing member and an elastic member which are sleeved on the outer peripheral side of the guide shaft, the first fixing member is connected to the fixing plate, one end of the second fixing member is connected to the second fixing frame, the other end of the second fixing member is connected to the baffle, and the elastic member is located between the first fixing member and the second fixing member.

[0015] According to the above technical means, the second fixing member drives the baffle to move along with the movement of the output shaft of the first driving device. The guide shaft can guide the lifting and lowering movement of the positioning pin to prevent displacement during lifting and lowering. The elastic member can buffer the impact force received by the positioning pin during the lifting and lowering movement.

[0016] Furthermore, the accompanying traction device also includes a second driving device, a first in-position detection switch and a second in-position detection switch. The second driving device is connected to the slider to drive the slider to drive the pushing component to move between the first position and the second position; the first in-position detection switch is located on the frame and corresponds to the first position, and the second in-position detection switch is located on the frame and corresponds to the second position.

[0017] According to the above technical means, the slider is driven by the second driving device to drive the pushing component to move between the first position and the second position, and the accuracy of the position detection is detected by the first in-position detection switch and the second in-position detection switch, thereby improving the operating reliability of the accompanying traction device.

[0018] Furthermore, a guard plate is provided on the outer peripheral side of the frame corresponding to the push rod, the guard plate is provided with an opening for allowing the push rod to pass through, and a flexible protective cover is provided between the guard plate and the protruding end of the push rod.

[0019] According to the above-mentioned technical means, the flexible protective cover can be extended and retracted as the push rod moves. On the one hand, it can cushion the impact force received by the pushing component during the movement between the first position and the second position. On the other hand, it can prevent external impurities such as dust from entering the lifting component and the pushing component, thereby further improving the operating reliability of the accompanying traction device.

[0020] Furthermore, a roller is provided at the bottom of the extended end of the push rod; and / or, one end of the push rod away from the extended end is connected to a drag chain, and a wiring harness is accommodated in the drag chain.

[0021] According to the above technical means, the roller can assist the support push rod in performing telescopic movements and the positioning pin in performing lifting movements, and on the other hand, it can enable the accompanying traction device to run synchronously with the guide transport vehicle, thereby reducing the friction between the guide transport vehicle and the ground; the drag chain contains the wiring harness, and the drag chain moves with the movement of the push rod, which can organize the wiring harness on the one hand, and prevent the wiring harness from being pulled during movement on the other hand.

[0022] In a second aspect, an embodiment of the present application further provides a guided transport vehicle, comprising: a vehicle body, a frame being provided at one end of the vehicle body along the forward direction; and an accompanying traction device as described above, the accompanying traction device being detachably connected to the frame.

[0023] On the third aspect, the embodiment of the present application also provides a material trolley, which can be docked or disconnected with the accompanying traction device as described above, and the material trolley includes: a frame for carrying materials; and a self-locking mechanism, which is movably connected to the frame. In a first state, the positioning pin of the accompanying traction device rises, and the self-locking mechanism clamps the positioning pin to dock the material trolley with the accompanying traction device; in a second state, the self-locking mechanism releases the positioning pin, and the positioning pin descends to disconnect the material trolley from the accompanying traction device.

[0024] In a fourth aspect, an embodiment of the present application further provides a transport system, comprising: the guide transport vehicle as described above; and the material trolley as described above, which is arranged on one side of the guide transport vehicle and can be connected to or disconnected from the accompanying traction device.

[0025] The accompanying traction device, guide transport vehicle, material trolley and transportation system provided by the embodiment of the present application can automatically dock or disconnect with the material trolley under the guidance of the guide transport vehicle to achieve full-process automated and stable operation. There is no need to plan a separate walking route for the material trolley. The material trolley is not prone to deviation during the accompanying process, and the failure rate is low, reducing the operating cost. Furthermore, the accompanying traction device extends the push rod from one side of the guide transport vehicle before docking with the material trolley, and retracts the push rod after disconnecting from the material trolley, which occupies a small space and prevents the push rod from interfering with or colliding with surrounding objects. In addition, the accompanying traction device can dock or disconnect with the material trolley only through a liftable positioning pin, with a simple structure, low processing accuracy requirements, good compatibility, and low investment cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of the top view of the transportation system provided by an embodiment of the present application is shown;

[0027] Figure 2 A schematic diagram showing the three-dimensional structure of the accompanying traction device provided in an embodiment of the present application in a first state;

[0028] Figure 3 Show Figure 2 The three-dimensional structural schematic diagram of the accompanying traction device in the second state is shown;

[0029] Figure 4 Show Figure 2 A schematic diagram of the structure of the accompanying traction device shown in the top view;

[0030] Figure 5 Show Figure 4 A side structural schematic diagram of the accompanying traction device shown;

[0031] Figure 6 Show Figure 3 A schematic diagram of the structure of the accompanying traction device shown in the top view;

[0032] Figure 7 Show Figure 6 A front view structural schematic diagram of the accompanying traction device shown;

[0033] Figure 8 Show Figure 7 The structural schematic diagram of the lifting assembly in the accompanying traction device shown is viewed along direction A;

[0034] Fig. 9 A schematic structural diagram of a material trolley provided in an embodiment of the present application is shown.

[0035] Among them, 1, accompanying traction device; 11, sliding assembly; 111, guide rail; 112, slider; P1, first position; P2, second position;

[0036] 12. Pushing assembly; 120. Push rod; 121. Extended end; 122. Flexible protective cover;

[0037] 13, lifting assembly; 130, positioning pin; 13a, first end; 13b, second end; 131, first driving device; 132, lifting assembly; T1, first fixing frame; T2, second fixing frame; 133, fixing plate; 134, first photoelectric sensor; 135, second photoelectric sensor; 136, baffle; 137, guide shaft; 138a, first fixing member; 138b, second fixing member; 139, elastic member;

[0038] 14. Second driving device; 15. First in-position detection switch; 16. Second in-position detection switch; 17. Drag chain; 18. Roller;

[0039] 2. Guide transport vehicle; 20. Reinforcement ribs; 21. Frame; 22. Guard plate; 23. Opening;

[0040] 3. Material trolley; 31. Frame; 32. Self-locking mechanism. DETAILED DESCRIPTION

[0041] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0042] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention. The drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0043] like Figure 1 As shown, the embodiment of the present application provides a transport system, including: a guide transport vehicle 2, an accompanying traction device 1 and a material trolley 3. The guide transport vehicle 2 includes a vehicle body 20, and a vehicle frame 21 is provided at one end of the vehicle body 20 along the forward direction. The accompanying traction device 1 is detachably connected to the vehicle frame 21. The material trolley 3 is provided on one side of the guide transport vehicle 2, and the material trolley 3 can be docked with or detached from the accompanying traction device 1.

[0044] The transportation system can be used in the field of production logistics transportation of vehicle factories, for example, including but not limited to the interior assembly line of the final assembly workshop, the door and instrument subassembly line, the electronic subassembly, the assembly line, and other application scenarios that use the guided transport vehicle (AGV) 2 as a transport carrier and need to transport materials synchronously. Among them, the guided transport vehicle 2 is used to carry the body in white. The guided transport vehicle 2 is also docked with the material trolley 3 through the accompanying traction device 1, and arrives at each workstation along the preset conveying line body. The material trolley 3 is used to carry various parts, so that the operators or robots at each workstation can assemble the various parts into the body in white. After the assembly is completed, the guided transport vehicle 2 is disconnected from the material trolley 3 through the accompanying traction device 1. Under the guidance of the guided transport vehicle 2, the accompanying traction device 1 can automatically dock or disconnect with the material trolley 3 to achieve full-process automated and stable operation. There is no need to plan a separate walking route for the material trolley 3. The material trolley 3 is not easy to deviate during the accompanying process, and the failure rate is low, reducing the operating cost.

[0045] The specific structure of the accompanying traction device provided in the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0046] like Figure 2 and Figure 3 As shown, a traveling traction device 1 provided in an embodiment of the present application includes: a sliding component 11, a pushing component 12 and a lifting component 13.

[0047] The sliding assembly 11 includes a guide rail 111 and a slider 112 slidably connected to the guide rail 111. The guide rail 111 is connected to the frame 21. The frame 21 is located at one end of the body 20 of the guide transport vehicle 2 along the forward direction. The frame 21 is a metal plate, and crisscross reinforcement ribs 20 are arranged on it to improve the structural strength and rigidity of the frame 21. The guide rail 111 is arranged on the reinforcement rib 20, and the slider 112 is slidably connected to the guide rail 111.

[0048] The pushing assembly 12 is connected to the slider 112 to move between the first position P1 and the second position P2. The pushing assembly 12 includes a push rod 120 having an extended end 121 extending from the frame 21. The first position P1 and the second position P2 are sequentially spaced apart along the extending direction of the guide rail 111, and the pushing assembly 12 moves along the extending direction of the guide rail 111 through the slider 112.

[0049] The lifting component 13 is arranged at the protruding end 121 of the push rod 120, and the lifting component 13 includes a liftable positioning pin 130, wherein, in the first state, the pushing component 12 moves from the first position P1 to the second position P2, the positioning pin 130 rises, and docks with the material trolley 3; in the second state, the positioning pin 130 descends, and disengages from the material trolley 3, and the pushing component 12 returns from the second position P2 to the first position P1.

[0050] In this embodiment, before the accompanying traction device 1 needs to dock with the material trolley 3, the push rod 120 is first extended from one side of the guide transport vehicle 1, and then the positioning pin 130 is controlled to rise to achieve docking with the material trolley 3; when the accompanying traction device 1 needs to be disconnected from the material trolley 3, the positioning pin 130 is controlled to descend to disconnect from the material trolley 3, and then the push rod 120 is retracted to the guide transport vehicle 1, which occupies a small space and prevents the push rod 120 from interfering with or colliding with surrounding objects. In addition, the accompanying traction device 1 can dock or disconnect with the material trolley 3 only through the liftable positioning pin 130, which has a simple structure, low processing accuracy requirements, good compatibility, and low investment cost.

[0051] The accompanying traction device provided in the embodiment of the present application drives the pushing component 12 to extend or retract relative to the frame 21 through the sliding component 11. The extending end 121 of the push rod 120 of the pushing component 12 is provided with a lifting component 13. The lifting component 13 includes a liftable positioning pin 130. In the first state, the pushing component 12 is extended relative to the frame 21, the positioning pin 130 rises, and docks with the material trolley 3, so that the guide transport vehicle 2 can run synchronously with the material trolley 3 through the accompanying traction device 1; in the second state, the positioning pin 130 descends and disengages from the material trolley 3, and the pushing component 12 retracts relative to the frame 21 to complete the conveying operation, thereby realizing full-process automated and stable operation. There is no need to plan a separate walking route for the material trolley 3, and the material trolley 3 is not easy to deviate during the accompanying process, so the failure rate is low, and the operating cost is reduced.

[0052] In some embodiments, the lifting assembly 13 further includes a first driving device 131 and a lifting assembly 132. The lifting assembly 132 is connected between the positioning pin 130 and the output shaft of the first driving device 131, so that the first driving device 131 drives the positioning pin 130 to move up and down. Figures 5 to 8As shown, the first drive device 131 is a linear motor or a linear electric cylinder, which is used to output a linear motion in the vertical direction. The structure of the lifting assembly 132 has many forms, mainly for transmitting the linear motion of the first drive device 131 to the positioning pin 130, and realizing the lifting action of the positioning pin 130 through the first drive device 131 and the lifting assembly 132, which has a simple structure and low processing precision requirements.

[0053] In some embodiments, the positioning pin 130 includes a first end 13a and a second end 13b arranged in the axial direction, and the first end 13a is used to dock with the material trolley 3. The lifting assembly 132 includes a first fixing frame T1 and a second fixing frame T2 arranged at intervals along the length direction of the positioning pin 130, and the extended end 121 of the push rod 120 is fixedly connected to the first fixing frame T1, one end of the first fixing frame T1 is fixedly connected to the first driving device 131, and the other end of the first fixing frame T1 is sleeved on the outer peripheral side of the positioning pin 130. One end of the second fixing frame T2 is connected to the output shaft of the first driving device 131, and the other end of the second fixing frame T2 is connected to the second end 13b of the positioning pin 130. The lifting assembly 132 transmits the output power of the first driving device 131 to the positioning pin 130 through the first fixing frame T1 and the second fixing frame T2, and the force transmission path is short, the accuracy is high, and the response is fast.

[0054] like Figure 6 and Figure 8 As shown, the extension direction of the output shaft of the first driving device 131 is opposite to the extension direction of the positioning pin 130. When the output shaft of the first driving device 131 is extended, the positioning pin 130 is lowered; when the output shaft of the first driving device 131 is retracted, the positioning pin 130 is raised. Such a configuration can reduce the space occupied by the lifting assembly 13 in the vertical direction. One end of the first fixing frame T1 is fixedly connected to the first driving device 131, and the other end of the first fixing frame T1 is sleeved on the outer peripheral side of the positioning pin 130, which plays a guiding role in the lifting and lowering movement of the positioning pin 130. The second end 13b of the positioning pin 130 is provided with a stepped shaft, one end of the second fixing frame T2 is connected to the output shaft of the first driving device 131, and the other end of the second fixing frame T2 is connected to the stepped shaft of the second end 13b of the positioning pin 130, so that the power of the first driving device 131 can be transmitted to the positioning pin 130.

[0055] In some embodiments, the lifting assembly 13 further includes a fixing plate 133, which is connected to the first fixing frame T1; a position monitoring assembly is provided on the fixing plate 133 along the lifting direction of the positioning pin 130, and the position monitoring assembly is used to monitor the rising position and the falling position of the positioning pin 130. The position monitoring assembly can be in various forms, such as but not limited to infrared sensors and photoelectric sensors, and the accuracy of the lifting position of the positioning pin 130 can be further improved by the position monitoring assembly.

[0056] In some embodiments, the position monitoring component includes a first photoelectric sensor 134, a second photoelectric sensor 135 and a shading component. The first photoelectric sensor 134 and the second photoelectric sensor 135 are spaced apart along the lifting direction of the positioning pin 130. The shading component includes a baffle 136 connected to the second fixed frame T2. When the positioning pin 130 is in the rising position, the baffle 136 is located at the first photoelectric sensor 134 for sending an ascending signal. When the positioning pin 130 is in the descending position, the baffle 136 is located at the second photoelectric sensor 135 for sending a descending signal.

[0057] The photoelectric sensor is based on the photoelectric effect, converting the measured change into the change of the light signal, and then further converting the non-electrical signal into an electrical signal with the help of the photoelectric element. The photoelectric sensor generally includes a transmitting end and a receiving end that are arranged oppositely and spaced apart. In this embodiment, when the baffle 136 of the shading component is located between the transmitting end and the receiving end, it will block the light and generate an electrical signal. Therefore, the lifting position of the positioning pin 130 can be accurately determined by the first photoelectric sensor 134, the second photoelectric sensor 135 and the baffle 136 of the shading component, and the cost is low.

[0058] Furthermore, the shading assembly also includes a guide shaft 137, a first fixing member 138a, a second fixing member 138b and an elastic member 139 which are sleeved on the outer peripheral side of the guide shaft 137, the first fixing member 138a is connected to the fixing plate 133, one end of the second fixing member 138b is connected to the second fixing frame T2, the other end of the second fixing member 138b is connected to the baffle 136, and the elastic member 139 is located between the first fixing member 138a and the second fixing member 138b.

[0059] like Figure 6 and Figure 8 As shown, optionally, the elastic member 139 is a compressible spring. When the positioning pin 130 rises, the second fixing member 138b drives the baffle 136 to rise as the output shaft of the first driving device 131 retracts, so that the elastic member 139 between the first fixing member 138a and the second fixing member 138b is compressed; when the positioning pin 130 descends, the second fixing member 138b drives the baffle 136 to descend as the output shaft of the first driving device 131 extends, and the elastic member 139 returns to its original state. Thus, the second fixing member 138b drives the baffle 136 to move with the movement of the output shaft of the first driving device 131, and the guide shaft 137 can guide the lifting and lowering movement of the positioning pin 130 to prevent displacement during lifting and lowering, and the elastic member 139 can buffer the impact force of the positioning pin 130 during the lifting and lowering movement.

[0060] In some embodiments, the accompanying traction device 1 further includes a second driving device 14, a first in-position detection switch 15, and a second in-position detection switch 16. The second driving device 14 is connected to the slider 112 to drive the slider 112 to drive the pushing assembly 12 to move between the first position P1 and the second position P2. The first in-position detection switch 15 is located on the frame 21 and is set corresponding to the first position P1, and the second in-position detection switch 16 is located on the frame 21 and is set corresponding to the second position P2.

[0061] Optionally, the second drive device 14 is a linear motor or a linear electric cylinder, which is used to output a linear motion in the horizontal direction. The first in-position detection switch 15 and the second in-position detection switch 16 can be infrared sensors or photoelectric sensors, which are not limited here. Thus, the second drive device 14 drives the slider 112 to drive the pushing component 12 to move between the first position P1 and the second position P2, and the first in-position detection switch 15 and the second in-position detection switch 16 detect the position accuracy, thereby improving the operating reliability of the accompanying traction device.

[0062] In some embodiments, a guard plate 22 is further provided on the outer peripheral side of the vehicle frame 21 corresponding to the push rod 120, and the guard plate 22 is provided with an opening 23 for allowing the push rod 120 to pass through, and a flexible protective cover 122 is provided between the guard plate 22 and the extended end 121 of the push rod 120. Optionally, the flexible protective cover 122 is an accordion cover, which can buffer the impact force of the pushing assembly 12 during the movement between the first position P1 and the second position P2, and can prevent dust and other foreign matter from entering the lifting assembly 13 and the pushing assembly 12, thereby further improving the operational reliability of the accompanying traction device.

[0063] Furthermore, a roller 18 is provided at the bottom of the extended end 121 of the push rod 120. In order to avoid the overhead guide transport vehicle 2, the distance between the roller 18 and the ground is 5 mm. Optionally, the roller 18 can be a universal rotating wheel, and the rotation direction can be adjusted arbitrarily according to the force direction. The roller 18 can assist in supporting the push rod 120 to perform the telescopic action and the positioning pin 130 to perform the lifting action. On the other hand, it can make the accompanying traction device 1 follow the guide transport vehicle 2 to run synchronously, reducing the moving friction between the guide transport vehicle 2 and the ground.

[0064] Furthermore, the accompanying traction device 1 further includes a drag chain 17, which is connected to an end of the push rod 120 away from the extended end 121, and a wiring harness is contained in the drag chain 17. Figures 2 to 8As shown, the wiring harnesses of electrical components such as the first driving device 131, the second driving device 14, the first in-place detection switch 15, the second in-place detection switch 16, the first photoelectric sensor 134 and the second photoelectric sensor 135 can be placed in the drag chain 17. The drag chain 17 can move with the movement of the push rod 120. On the one hand, the wiring harnesses can be organized, and on the other hand, the wiring harnesses can be prevented from being pulled during movement.

[0065] like Fig. 9 As shown, the embodiment of the present application further provides a material trolley 3, which can be docked with or disconnected from the accompanying traction device 1 as described above, and the material trolley 3 includes a frame 31 and a self-locking mechanism 32.

[0066] The frame 31 is used to carry materials, and the self-locking mechanism 32 is movably connected to the frame 31. In the first state, the positioning pin 130 of the accompanying traction device 1 rises, and the self-locking mechanism 32 clamps the positioning pin 130 to allow the material trolley 3 to dock with the accompanying traction device 1; in the second state, the self-locking mechanism 32 releases the positioning pin 130, and the positioning pin 130 descends to disengage the material trolley 3 from the accompanying traction device 1.

[0067] More specifically, the frame 31 is provided with an opening 310, and the self-locking mechanism 32 includes a rotating shaft 321 and a flip member 322 connected to the rotating shaft 321. In the first state, the positioning pin 130 rises to the opening 310, and the flip member 322 rotates around the rotating shaft 321 to clamp the positioning pin 130 at the opening 310; in the second state, the flip member 322 rotates 180 degrees around the rotating shaft 321 to make the positioning pin 130 descend from the opening 310.

[0068] In addition, there can be two self-locking mechanisms 32, one self-locking mechanism 32 is arranged on the side of the material trolley 3, and the other self-locking mechanism 32 is arranged on the side of the forward direction of the material trolley 3, so that the material trolley 3 can be rotated 90° according to the application scenario and docked or disconnected with the accompanying traction device 1, thereby improving the flexibility of the material trolley 3.

[0069] The specific operation process of the transportation system of the embodiment of the present application is as follows:

[0070] When the guide transport vehicle 2 drives the accompanying traction device 1 to reach the upper line position of the material trolley 3, the accompanying traction device 1 receives the extension command issued by the system, the second drive device 14 starts, and the driving slider 112 drives the pushing component 12 to move from the first position P1 to the second position P2 along the guide rail 111, so that the extending end 121 of the push rod 120 extends a preset distance from the frame 21, and then the second drive device 14 stops running; the lifting component 13 receives the rising command issued by the system, the first drive device 131 starts, and the positioning pin 130 is driven to rise through the jacking component 132 to dock with the material trolley 3, and the guide transport vehicle 2 runs synchronously with the material trolley through the accompanying traction device 1 to the workstation at the designated position.

[0071] When the guide transport vehicle 2 reaches the offline position of the material trolley 3, the lifting component 13 receives the descending command issued by the system, and the first drive device 131 drives the positioning pin 130 to descend through the jacking component 132 and disengages from the material trolley 3. The accompanying traction device 1 receives the retraction command issued by the system, and the second drive device 14 drives the slider 112 to drive the pushing component 12 along the guide rail 111 from the second position P2 to the first position P1. The guide transport vehicle 2 drives the accompanying traction device 1 to continue running to the online position of the next material trolley 3 to start the next cycle.

[0072] It should be noted that the phrases "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments", etc. mentioned in the specification indicate that the described embodiments may include certain features, structures or characteristics, but not every embodiment may include the certain features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when describing certain features, structures or characteristics in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such features, structures or characteristics in conjunction with other embodiments, whether explicitly or not explicitly described.

[0073] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A traveling traction device, detachably connected to the frame of a guided transport vehicle, characterized in that: The accompanying traction device comprises: A sliding assembly, comprising a guide rail and a slider slidably connected to the guide rail, wherein the guide rail is connected to the vehicle frame; a pushing assembly connected to the slider to move between a first position and a second position, the pushing assembly comprising a push rod having an extended end extending from the frame; and A lifting assembly is arranged at the protruding end of the push rod, and the lifting assembly includes a lifting and lowering positioning pin, Among them, in the first state, the pushing component moves from the first position to the second position, the positioning pin rises and docks with the material trolley; in the second state, the positioning pin descends and disengages from the material trolley, and the pushing component returns from the second position to the first position.

2. The accompanying traction device according to claim 1, characterized in that: The lifting assembly further includes a first driving device and a lifting assembly, wherein the lifting assembly is connected between the positioning pin and an output shaft of the first driving device so that the first driving device drives the positioning pin to rise and fall.

3. The accompanying traction device according to claim 2, characterized in that: The positioning pin includes a first end and a second end arranged along the axial direction, and the first end is used for docking with the material trolley; The lifting assembly includes a first fixing frame and a second fixing frame arranged at intervals along the length direction of the positioning pin, the protruding end of the push rod is fixedly connected to the first fixing frame, one end of the first fixing frame is fixedly connected to the first driving device, and the other end of the first fixing frame is sleeved on the outer peripheral side of the positioning pin; one end of the second fixing frame is connected to the output shaft of the first driving device, and the other end of the second fixing frame is connected to the second end of the positioning pin.

4. The accompanying traction device according to claim 3, characterized in that: The lifting assembly also includes a fixing plate connected to the first fixing frame; a position monitoring assembly is arranged on the fixing plate along the lifting direction of the positioning pin, and the position monitoring assembly is used to monitor the rising position and the falling position of the positioning pin.

5. The accompanying traction device according to claim 4, characterized in that: The position monitoring component includes a first photoelectric sensor, a second photoelectric sensor and a shading component. The first photoelectric sensor and the second photoelectric sensor are arranged at intervals along the lifting direction of the positioning pin. The shading component includes a baffle connected to the second fixed frame. When the positioning pin is in the rising position, the baffle is located at the first photoelectric sensor to send an ascending signal; when the positioning pin is in the descending position, the baffle is located at the second photoelectric sensor to send a descending signal.

6. The accompanying traction device according to claim 5, characterized in that: The shading assembly also includes a guide shaft, a first fixing member, a second fixing member and an elastic member sleeved on the outer peripheral side of the guide shaft, the first fixing member is connected to the fixing plate, one end of the second fixing member is connected to the second fixing frame, the other end of the second fixing member is connected to the baffle, and the elastic member is located between the first fixing member and the second fixing member.

7. The accompanying traction device according to claim 1, characterized in that: It also includes a second driving device, a first in-position detection switch and a second in-position detection switch, wherein the second driving device is connected to the slider to drive the slider to drive the pushing assembly to move between the first position and the second position; The first in-position detection switch is located on the vehicle frame and is arranged corresponding to the first position, and the second in-position detection switch is located on the vehicle frame and is arranged corresponding to the second position.

8. The accompanying traction device according to claim 1, characterized in that: A guard plate is further provided on the outer peripheral side of the frame corresponding to the push rod, the guard plate is provided with an opening for allowing the push rod to pass through, and a flexible protective cover is provided between the guard plate and the protruding end of the push rod.

9. The accompanying traction device according to claim 1, characterized in that: A roller is provided at the bottom of the extended end of the push rod; and / or, one end of the push rod away from the extended end is connected to a drag chain, and a wiring harness is accommodated in the drag chain.

10. A guided transport vehicle, characterized in that: include: A vehicle body, wherein a frame is provided at one end of the vehicle body along the forward direction; and The accompanying traction device according to any one of claims 1 to 9, wherein the accompanying traction device is detachably connected to the vehicle frame.

11. A material trolley, characterized in that: The material trolley can be docked or disconnected with the accompanying traction device according to any one of claims 1 to 9, and the material trolley includes: Frames, for carrying materials; and The self-locking mechanism is movably connected to the frame. In the first state, the positioning pin of the accompanying traction device rises, and the self-locking mechanism clamps the positioning pin to allow the material trolley to dock with the accompanying traction device; in the second state, the self-locking mechanism releases the positioning pin, and the positioning pin descends to allow the material trolley to disengage from the accompanying traction device.

12. A transportation system, characterized in that: include: The guided transport vehicle according to claim 10; and The material trolley as described in claim 11 is arranged on one side of the guide transport vehicle and can be connected to or disconnected from the accompanying traction device.

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