AGV tractor

Abstract

The utility model discloses an AGV (Automatic Guided Vehicle) tractor which comprises a tractor body and a traction component, and the traction component is fixedly arranged at the rear end of the tractor body; the traction component comprises a traction track, a traction power assembly, a traction execution assembly and a correction assembly. The traction motor is started, the traction motor drives the main transmission gear, the auxiliary transmission gear and the threaded rod to rotate, and the threaded rod rotates to drive the sliding block, the traction stop rod and the spherical sleeve to move up and down on the traction track until the material frame, the spherical joint, the traction shaft rod, the traction stop rod and the spherical sleeve are located on the same horizontal height. The force of the spherical joint pressing the first strain gauge set, the second strain gauge set and the third strain gauge set is kept balanced, and the situation that when a tractor body drags a heavy-load material frame or runs on the uneven ground, if a fixed traction point cannot flexibly adapt to load changes, asymmetric force can be directly transmitted to the material frame, deflection or inclination is caused, and the material frame is damaged is avoided. And the operation stability is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV tractors, in particular to an AGV tractor. Background Art

[0002] In the field of automated logistics and intelligent manufacturing, automated guided vehicles play a vital role. They undertake tasks such as material handling and assembly line supply in warehouses, factories and various automated production lines, significantly improving operational efficiency and production flexibility. With the continuous improvement of the level of intelligence, the design and application of AGVs are constantly expanding. Among them, tractors, as a key transportation carrier, have a direct impact on the stability and efficiency of the entire logistics system.

[0003] However, in actual applications, the design of AGV tractor traction components often faces a common challenge: that is, during the traction process, due to the limitations of the structural design, the traction components cannot achieve precise lateral or longitudinal fine-tuning, which leads to easy offset when subjected to force. The root causes of this problem are diverse, and may involve factors such as insufficient rigidity of the traction device, inaccurate design of the guide mechanism, or lag in feedback adjustment of the control system. The consequences not only affect the traction efficiency, but may also lead to improper handling of materials during the traction process, increase equipment wear, and even cause safety accidents in extreme cases.

[0004] Specifically, when the AGV tractor is dragging heavy materials or driving on uneven ground, if the fixed traction point cannot flexibly adapt to the load changes, it will directly transmit asymmetric force to the traction object, causing yaw or tilt, thereby increasing driving resistance and reducing running stability. In addition, the fixed traction structure may also limit the operational flexibility of the AGV in a small space and reduce its adaptability in complex path planning.

[0005] Therefore, how to provide an AGV tractor is a problem that those skilled in the art need to solve urgently. Utility Model Content

[0006] One purpose of the utility model is to provide an AGV tractor. The utility model starts a traction motor, which drives the main transmission gear, the auxiliary transmission gear and the threaded rod to rotate. The rotation of the threaded rod drives the slider, the traction stop rod and the spherical sleeve to move up and down on the traction track until the material frame, the spherical joint, the traction shaft rod and the traction stop rod and the spherical sleeve are at the same horizontal height, so that the force of the spherical joint pressing on the first strain gauge group, the second strain gauge group and the third strain gauge group remains balanced, so as to avoid that when the tractor body is dragging a heavy-loaded material frame or driving on an uneven ground, if the fixed traction point cannot flexibly adapt to the load change, it will directly transmit asymmetric force to the material frame, causing yaw or tilt, thereby increasing driving resistance and reducing running stability.

[0007] An AGV tractor according to an embodiment of the utility model comprises a tractor body and a tractor component, wherein the tractor component is fixedly mounted at the rear end of the tractor body;

[0008] The traction component includes a traction track, a traction power component, a traction execution component and a correction component, wherein the non-exposed side of the traction track is fixedly mounted on the rear end of the traction vehicle body, the traction power component is fixedly mounted on the top of the traction track, the traction execution component is mounted on the traction track, and the correction component is fixedly mounted inside the traction execution component.

[0009] Furthermore, a tractor wheel is arranged at the bottom of the tractor body, a lighting lamp is fixedly arranged at the front end of the tractor body, a turning handle is rotatably arranged at the top of the tractor body, a display screen is fixedly arranged at the top of the tractor body, and handlebars are fixedly arranged on both sides of the seat of the tractor body.

[0010] Furthermore, a slide rail groove is provided inside the traction rail.

[0011] Furthermore, the traction power assembly includes a traction motor and a main drive gear, wherein the motor seat of the traction motor is fixedly mounted on one side of the open end of the traction track, and the traction motor is located at the top of the traction track, and the main drive gear is fixedly mounted on the rotating shaft of the traction motor.

[0012] Furthermore, the traction power assembly also includes an auxiliary transmission gear, a threaded rod and a slider, wherein the auxiliary transmission gear is fixedly mounted on the top of the threaded rod, the auxiliary transmission gear is meshed with the main transmission gear, both ends of the threaded rod are rotatably mounted on the traction track, the slider is slidably mounted in the slide rail groove of the traction track, and the slider and the threaded rod are threadedly matched.

[0013] Furthermore, the traction actuator assembly includes a traction stop rod and a spherical sleeve, wherein one end of the traction stop rod is fixedly mounted on the slider, and the side of the spherical sleeve facing away from the open end is fixedly mounted on the other end of the traction stop rod.

[0014] Furthermore, the traction actuator assembly also includes a spherical joint, a traction shaft and a traction buckle, the spherical joint is rotatably inserted in the spherical sleeve, one end of the traction shaft is fixedly mounted on the spherical joint, and the traction buckle is fixedly mounted on the other end of the traction shaft.

[0015] Furthermore, the correction component includes a first strain gauge group, a second strain gauge group and a third strain gauge group, wherein the first strain gauge group is fixedly mounted on the inner wall of the spherical sleeve, the second strain gauge group is fixedly mounted on the inner wall of the spherical sleeve, and the third strain gauge group is fixedly mounted on the inner wall of the spherical sleeve.

[0016] Furthermore, the first strain gauge group, the second strain gauge group and the third strain gauge group are all composed of a plurality of protective films and a plurality of strain gauge bodies, and the protective films are sleeved on the strain gauge bodies.

[0017] The beneficial effects of the utility model are:

[0018] The utility model starts a traction motor, which drives the main transmission gear, the auxiliary transmission gear and the threaded rod to rotate. The rotation of the threaded rod drives the slider, the traction stop rod and the spherical sleeve to move up and down on the traction track until the material frame, the spherical joint, the traction shaft rod and the traction stop rod and the spherical sleeve are at the same horizontal height, so that the force of the spherical joint pressing the first strain gauge group, the second strain gauge group and the third strain gauge group is kept balanced, so as to avoid that when the tractor body is towing a heavy-loaded material frame or driving on an uneven ground, if the fixed traction point cannot flexibly adapt to the load change, it will directly transmit asymmetric force to the material frame, causing yaw or tilt, thereby increasing driving resistance and reducing running stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0020] Figure 1 This is a schematic diagram of the overall structure of an AGV tractor proposed by the utility model from a first-person perspective;

[0021] Figure 2 This is a schematic diagram of the overall structure of an AGV tractor proposed by the utility model from a second perspective;

[0022] Figure 3 This is a schematic diagram of the structure of a traction track of an AGV tractor proposed by the utility model;

[0023] Figure 4 A plan view of a correction component of an AGV tractor proposed by the utility model;

[0024] Figure 5 This is a cross-sectional view of a strain gauge body of an AGV tractor proposed in the utility model.

[0025] In the figure: 1. Tractor body; 1.1. Tractor wheel; 1.2. Light; 1.3. Turning handle; 1.4. Display screen; 1.5. Handlebar; 2. Traction parts; 3. Traction track; 3.1. Slide rail groove; 4. Traction power assembly; 4.1. Traction motor; 4.2. Main transmission gear; 4.3. Auxiliary transmission gear; 4.4. Threaded rod; 4.5. Slider; 5. Traction actuator assembly; 5.1. Traction stop rod; 5.2. Spherical sleeve; 5.3. Spherical joint; 5.4. Traction shaft; 5.5. Traction buckle; 6. Correction assembly; 6.1. First strain gauge group; 6.2. Second strain gauge group; 6.3. Third strain gauge group; 6.4. Protective film; 6.5. Strain gauge body. DETAILED DESCRIPTION

[0026] Now the utility model is further described in detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the utility model in a schematic manner, and therefore only show the components related to the utility model.

[0027] Please refer to Figures 1 to 5 The utility model provides an AGV tractor, comprising a tractor body 1 and a tractor component 2, wherein the tractor component 2 is fixedly mounted on the rear end of the tractor body 1, and is used to tow a material frame; the tractor component 2 comprises a tractor track 3, a tractor power assembly 4, a tractor execution assembly 5 and a correction assembly 6, wherein a non-open side of the tractor track 3 is fixedly mounted on the rear end of the tractor body 1, the tractor power assembly 4 is fixedly mounted on the top of the tractor track 3, the tractor execution assembly 5 is mounted on the tractor track 3, and the correction assembly 6 is fixedly mounted in the tractor execution assembly 5.

[0028] Specifically, a tractor wheel 1.1 is provided at the bottom of the tractor body 1, a lighting lamp 1.2 is fixedly provided at the front end of the tractor body 1, a turning handle 1.3 is rotatably provided at the top of the tractor body 1, a display screen 1.4 is fixedly provided at the top of the tractor body 1, handrails 1.5 are fixedly provided on both sides of the seat of the tractor body 1, and a slide rail groove 3.1 is opened inside the traction track 3.

[0029] More specifically, the traction power assembly 4 includes a traction motor 4.1 and a main transmission gear 4.2, wherein the motor seat of the traction motor 4.1 is fixedly mounted on one side of the open end of the traction track 3, the traction motor 4.1 is used to provide power, and the traction motor 4.1 is located at the top of the traction track 3, and the main transmission gear 4.2 is fixedly mounted on the rotating shaft of the traction motor 4.1.

[0030] The traction power assembly 4 also includes an auxiliary transmission gear 4.3, a threaded rod 4.4 and a slider 4.5, wherein the auxiliary transmission gear 4.3 is fixedly mounted on the top of the threaded rod 4.4, the rotation of the auxiliary transmission gear 4.3 drives the threaded rod 4.4 to rotate, and the threaded rod 4.4 drives the slider 4.5 to slide, the auxiliary transmission gear 4.3 is meshed with the main transmission gear 4.2, both ends of the threaded rod 4.4 are rotatably mounted on the traction track 3, the slider 4.5 is slidably mounted in the slide rail groove 3.1 of the traction track 3, and the slider 4.5 and the threaded rod 4.4 are threadedly matched.

[0031] More specifically, the traction actuator assembly 5 includes a traction stop rod 5.1 and a spherical sleeve 5.2, wherein one end of the traction stop rod 5.1 is fixedly mounted on the slider 4.5, and the side of the spherical sleeve 5.2 facing away from the open end is fixedly mounted on the other end of the traction stop rod 5.1. The traction actuator assembly 5 also includes a spherical joint 5.3, a traction shaft rod 5.4 and a traction buckle 5.5. The spherical joint 5.3 is rotatably inserted into the spherical sleeve 5.2, and the spherical joint 5.3 can be rotatably displaced in the spherical sleeve 5.2. One end of the traction shaft rod 5.4 is fixedly mounted on the spherical joint 5.3, and the traction buckle 5.5 is fixedly mounted on the other end of the traction shaft rod 5.4.

[0032] More specifically, the correction component 6 includes a first strain gauge group 6.1, a second strain gauge group 6.2 and a third strain gauge group 6.3, wherein the first strain gauge group 6.1 is fixedly mounted on the inner wall of the spherical sleeve 5.2, the second strain gauge group 6.2 is fixedly mounted on the inner wall of the spherical sleeve 5.2, and the third strain gauge group 6.3 is fixedly mounted on the inner wall of the spherical sleeve 5.2. The first strain gauge group 6.1, the second strain gauge group 6.2 and the third strain gauge group 6.3 are all composed of a plurality of protective films 6.4 and a plurality of strain gauge bodies 6.5, the protective films 6.4 are sleeved on the strain gauge bodies 6.5, the first strain gauge group 6.1, the second strain gauge group 6.2 and the third strain gauge group 6.3 sense the force of the spherical joint 5.3 in the spherical sleeve 5.2, and each of the first strain gauge group 6.1, the second strain gauge group 6.2 and the third strain gauge group 6.3 is provided with a plurality of strain gauges evenly distributed in the spherical sleeve 5.2.

[0033] Furthermore, the traction buckle 5.5 is stuck on the material frame, the tractor body 1 is started, the tractor body 1 drives the traction component 2 to pull the material frame, the traction component 2 is subjected to the traction force of the material frame, the first strain gauge group 6.1, the second strain gauge group 6.2 and the third strain gauge group 6.3 are attached to the inner wall of the spherical sleeve 5.2, the spherical joint 5.3 and the traction shaft 5.4 are subjected to the traction force, and the spherical joint 5.3 applies uneven force to the first strain gauge group 6.1, the second strain gauge group 6.2 and the third strain gauge group 6.3.

[0034] The traction motor 4.1 is started, and the rotation of the traction motor 4.1 drives the main transmission gear 4.2 to rotate, and the rotation of the main transmission gear 4.2 drives the rotation of the auxiliary transmission gear 4.3, and the rotation of the auxiliary transmission gear 4.3 drives the threaded rod 4.4, and the rotation of the threaded rod 4.4 drives the slider 4.5 to move up and down, and the up and down displacement of the slider 4.5 drives the traction stop rod 5.1 and the ball sleeve 5.2 to move up and down on the traction track 3 until the material frame, the ball joint 5.3, the traction shaft rod 5.4 and the traction stop rod 5.1 and the ball sleeve 5.2 are located at the same horizontal height, so that the force of the ball joint 5.3 pressing on the first strain gauge group 6.1, the second strain gauge group 6.2 and the third strain gauge group 6.3 is balanced, so as to avoid that when the tractor body 1 is towing a heavy-loaded material frame or driving on an uneven ground, if the fixed traction point cannot flexibly adapt to the load change, it will directly transmit asymmetric force to the material frame, causing yaw or tilt, thereby increasing driving resistance and reducing running stability.

[0035] The above are only preferred specific implementation methods of the utility model, but the protection scope of the utility model is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the utility model, who makes equivalent replacements or changes based on the technical scheme and utility model concept of the utility model, should be covered by the protection scope of the utility model.

Claims

1. An AGV tractor, characterized in that: It comprises a tractor body (1) and a tractor component (2), wherein the tractor component (2) is fixedly mounted on the rear end of the tractor body (1); The traction component (2) comprises a traction track (3), a traction power assembly (4), a traction execution assembly (5) and a correction assembly (6), wherein the non-open side of the traction track (3) is fixedly mounted on the rear end of the traction vehicle body (1), the traction power assembly (4) is fixedly mounted on the top of the traction track (3), the traction execution assembly (5) is mounted on the traction track (3), and the correction assembly (6) is fixedly mounted in the traction execution assembly (5).

2. The AGV tractor according to claim 1, characterized in that: The bottom of the tractor body (1) is provided with a tractor wheel (1.1), the front end of the tractor body (1) is fixedly provided with a lighting lamp (1.2), the top of the tractor body (1) is rotatably provided with a turning handle (1.3), the top of the tractor body (1) is fixedly provided with a display screen (1.4), and both sides of the seat of the tractor body (1) are fixedly provided with handlebars (1.5).

3. The AGV tractor according to claim 1, characterized in that: A slide rail groove (3.1) is provided inside the traction rail (3).

4. The AGV tractor according to claim 1, characterized in that: The traction power assembly (4) comprises a traction motor (4.1) and a main transmission gear (4.2), wherein the motor seat of the traction motor (4.1) is fixedly mounted on one side of the open end of the traction track (3), and the traction motor (4.1) is located at the top of the traction track (3), and the main transmission gear (4.2) is fixedly mounted on the rotating shaft of the traction motor (4.1).

5. The AGV tractor according to claim 4, characterized in that: The traction power assembly (4) further comprises an auxiliary transmission gear (4.3), a threaded rod (4.4) and a slider (4.5), wherein the auxiliary transmission gear (4.3) is fixedly mounted on the top of the threaded rod (4.4), the auxiliary transmission gear (4.3) is meshed with the main transmission gear (4.2), both ends of the threaded rod (4.4) are rotatably mounted on the traction track (3), the slider (4.5) is slidably mounted in the slide rail groove (3.1) of the traction track (3), and the slider (4.5) and the threaded rod (4.4) are threadedly matched.

6. The AGV tractor according to claim 1, characterized in that: The traction actuator assembly (5) comprises a traction stop rod (5.1) and a spherical sleeve (5.2), wherein one end of the traction stop rod (5.1) is fixedly mounted on the slider (4.5), and the side of the spherical sleeve (5.2) facing away from the opening end is fixedly mounted on the other end of the traction stop rod (5.1).

7. The AGV tractor according to claim 6, characterized in that: The traction actuator assembly (5) further comprises a spherical joint (5.3), a traction shaft (5.4) and a traction buckle (5.5); the spherical joint (5.3) is rotatably inserted into the spherical sleeve (5.2); one end of the traction shaft (5.4) is fixedly mounted on the spherical joint (5.3); and the traction buckle (5.5) is fixedly mounted on the other end of the traction shaft (5.4).

8. The AGV tractor according to claim 1, characterized in that: The correction component (6) comprises a first strain gauge group (6.1), a second strain gauge group (6.2) and a third strain gauge group (6.3), wherein the first strain gauge group (6.1) is fixedly mounted on the inner wall of the spherical sleeve (5.2), the second strain gauge group (6.2) is fixedly mounted on the inner wall of the spherical sleeve (5.2), and the third strain gauge group (6.3) is fixedly mounted on the inner wall of the spherical sleeve (5.2).

9. The AGV tractor according to claim 8, characterized in that: The first strain gauge group (6.1), the second strain gauge group (6.2) and the third strain gauge group (6.3) are all composed of a plurality of protective films (6.4) and a plurality of strain gauge bodies (6.5), and the protective films (6.4) are sleeved on the strain gauge bodies (6.5).

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