Automatic docking mechanism and automatic guide transport vehicle
By designing an automatic docking mechanism, the automatic docking of the material car and the AGV is achieved, which solves the problem that the material car needs to be modified to adapt to the AGV, reduces the difficulty of equipment introduction and improves safety performance.
Patent Information
- Application Number
- CN202422309065.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-23
- Publication Date
- 2025-05-16
- Estimated Expiration
- 2034-09-23
AI Technical Summary
When adapting to the traction AGV, existing material trolleys need to be modified and added to the traction tow rod mechanism, resulting in high conversion costs and difficulty in introducing automation equipment.
An automatic docking mechanism is designed, including a self-adjustment assembly, a support assembly, a drive assembly, a transmission assembly and a clamping assembly, which can automatically adjust the height and angle, and automatically dock or disengage with the crossbar of the material trolley through the clamping body.
It realizes that the material car can adapt to the traction AGV without modification, reduces the difficulty of introducing automatic traction AGV equipment, and enhances the safety performance of the automatic traction mechanism.
Smart Images
Figure CN222875687U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of docking mechanisms, in particular to an automatic docking mechanism and an automatic guided transport vehicle. Background Art
[0002] Automated Guided Vehicle (AGV) is abbreviated as AGV. It uses a single or multiple drive wheels to provide power to enable the AGV to move forward, backward or horizontally. In some existing production workshops, material carts are generally pushed manually. In some workshops with a high degree of automation, AGVs can be used to replace manual transfer of material carts. In order to adapt to the traction AGV for automatic docking, the material cart often needs to be modified to add a traction rod mechanism. In scenarios with a large number of material carts, this undoubtedly greatly increases the cost of modification and increases the difficulty of introducing automated equipment. Therefore, an automatic docking mechanism and an automated guided vehicle are provided to solve the above problems. Summary of the invention
[0003] One of the purposes of the utility model is to provide an automatic docking mechanism and an automatic guided transport vehicle, so as to solve the problem that the existing material trolley needs to be modified to adapt to the traction AGV.
[0004] The utility model provides an automatic docking mechanism and an automatic guided transport vehicle through the following technical solutions:
[0005] The utility model discloses an automatic docking mechanism, comprising a self-adjusting component, which can realize the adaptive adjustment of the height and angle of the automatic docking mechanism at the same time; a support component, which is fixedly arranged on the self-adjusting component; a driving component, which is arranged on the support component; at least one transmission component, which is movably arranged on the support component and is in transmission connection with the driving component; a clamping component, which is movably arranged on the support component and is in transmission connection with at least one of the transmission components;
[0006] Among them, the clamping assembly includes a third sensing device, which is arranged on the supporting assembly; at least one reset spring is arranged between the supporting assembly and the third sensing device; a clamping jaw body is transmission-connected to the transmission assembly and arranged opposite to the third sensing device, and the driving assembly drives the clamping jaw body to rotate through the transmission assembly, so that the clamping jaw body and the third sensing device cooperate to automatically dock or detach the cross bar of the material trolley.
[0007] In one embodiment, the self-adjusting component includes a fixed seat; a roll capstan seat arranged on the fixed seat and rotatable along the X-axis direction; a plurality of first springs respectively arranged on both sides of the roll capstan seat; a pitch capstan seat arranged on the roll capstan seat and rotatable along the Y-axis direction; and a plurality of second springs respectively arranged on both sides of the pitch capstan seat.
[0008] In one embodiment, the rotation axes of the roll capstan and the pitch capstan are arranged perpendicular to each other.
[0009] In one embodiment, the driving assembly includes a driving body and a rotating shaft, wherein the driving body is fixedly disposed on the supporting assembly; the rotating shaft is transmission-connected to the driving body, and the driving body drives the transmission assembly to move via the rotating shaft.
[0010] In one embodiment, the driving assembly further comprises an unlocking knob, which is disposed on the driving body and is drivingly connected to the rotating shaft, and the unlocking knob can manually drive the rotating shaft to rotate.
[0011] In one embodiment, the transmission assembly includes a slider, which is movably arranged on the rotating shaft; a first connecting rod connected to the slider; a second connecting rod movably arranged in the supporting assembly and connected to the first connecting rod; a third connecting rod connected to the second connecting rod and the clamping assembly at both ends; when the clamping assembly clamps the cross bar of the material cart, the second connecting rod and the third connecting rod are in a straight line.
[0012] In one embodiment, a first sensing device and a second sensing device are respectively provided on both sides of the slider, both of which include a sensing sheet and a sensing switch; the sensing sheet is fixedly provided on the slider; the sensing switch is fixedly provided on the supporting assembly and can monitor the movement of the corresponding sensing sheet in real time.
[0013] In one embodiment, the third sensing device includes a sensing plate rotatably disposed on the support assembly and disposed opposite to the clamp body; and a first sensing switch fixedly disposed on the support assembly, which can monitor the movement of the sensing plate in real time.
[0014] In one embodiment, a groove is provided on the clamp body; and a soft pad is provided at a position of the clamp body corresponding to the cross bar.
[0015] The utility model discloses an automatic guided transport vehicle comprising the automatic docking mechanism described in any one of the above items, a material trolley and an AGV main body; the automatic docking mechanism is arranged on the AGV main body and can be detachably and automatically docked with the cross bar of the material trolley.
[0016] Compared with the prior art, the automatic docking mechanism and the automatic guided transport vehicle of the utility model have the following beneficial effects:
[0017] The utility model discloses an automatic docking mechanism and a driving assembly in an automatic guided transport vehicle, which drives a clamp body to rotate through a transmission assembly, so that the clamp body and a third sensing device cooperate to automatically dock or disengage the crossbar of a material trolley, effectively realizing the function of adapting to the traction AGV without modifying the material trolley, and reducing the difficulty of introducing automatic traction AGV equipment to a certain extent; the rotating shaft drives the transmission assembly to rotate by manually rotating the unlocking knob clockwise or counterclockwise, thereby realizing manual docking or disengagement between the automatic docking mechanism and the material trolley;
[0018] The utility model discloses an automatic docking mechanism and an automatic guided transport vehicle moving on an uneven ground. When there is a height difference or angle difference between the AGV main body and the material trolley, the height and / or angle adaptive adjustment operation of the automatic docking mechanism can be realized through a self-adjusting component; a groove is arranged on the clamping claw main body, and when a vertical rod is vertically arranged on the cross bar of the material trolley, the groove can avoid the vertical rod to prevent interference; at the same time, when the clamping component clamps the cross bar of the material trolley, the second connecting rod and the third connecting rod are in a straight line state, that is, the dead point state of the mechanism, and the clamping claw main body will not rotate even when the driving body is powered off, and the traction force of the material trolley will not directly act on the driving body, which can prevent the material trolley from loosening and protect the driving body from being burned by overload, thereby enhancing the safety performance of the automatic traction mechanism to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.
[0020] Figure 1 It is a three-dimensional structural schematic diagram of an automatic docking mechanism of the utility model;
[0021] Figure 2 yes Figure 1 The cross-sectional structure diagram of an automatic docking mechanism of the utility model in a first use state is shown;
[0022] Figure 3 yes Figure 1 The cross-sectional structure diagram of an automatic docking mechanism of the utility model in a second use state is shown;
[0023] Figure 4 yes Figure 1 The schematic diagram of the structure of an automatic docking mechanism of the utility model is shown in a top view;
[0024] Figure 5 yes Figure 1 The side structural diagram of an automatic docking mechanism of the utility model is shown;
[0025] Figure 6 yes Figure 1 The utility model is a schematic diagram of an automatic docking mechanism in use.
[0026] Markings in the figure: 10, automatic docking mechanism; 11, connecting part; 12, self-adjusting component; 121, fixed seat; 122, roll capstan seat; 123, first spring; 124, pitch capstan seat; 125, second spring; 13, supporting assembly; 14, driving assembly; 141, driving body; 142, rotating shaft; 143, unlocking knob; 15, transmission assembly; 151, slider; 1511, first sensing device; 1512, second sensing device; 152, first connecting rod; 153, second connecting rod; 154, third connecting rod; 16, clamping assembly; 161, third sensing device; 1611, sensing plate; 1612, first sensing switch; 162, reset spring; 163, clamping jaw body; 1631, groove; 1632, cushion; 20, material trolley; 21, cross bar. DETAILED DESCRIPTION
[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiment is a partial embodiment of the present invention, not all embodiments. Generally, the mechanism of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.
[0028] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0029] See also Figure 1-Figure 6As shown, the utility model is an automatic docking mechanism 10 which mainly includes a connecting member 11, a self-adjusting component 12, a supporting component 13, a driving component 14, at least one transmission component 15 and a clamping component 16; the connecting member 11 is a supporting body, which is connected to the AGV body through the connecting member 11, so that the AGV body drives the material trolley 20 to move through the automatic docking mechanism 10; the self-adjusting component 12 is arranged on the connecting member 11, which enables the automatic docking mechanism 10 to achieve adaptive adjustment of height and angle; the supporting component 13 is arranged on the self-adjusting component 12, which respectively supports the driving component 14, at least one transmission component 15 and the clamping component 16; the driving component 14 is arranged on the supporting component 13; at least one transmission component 15 is rotatably arranged on the supporting component 13 and is transmission-connected to the driving component 14; the clamping component 16 is movably arranged on the supporting component 13 and is transmission-connected to the at least one transmission component 15, and the driving component 14 drives the clamping component 16 to rotate through at least one transmission component 15, thereby achieving automatic docking or separation of the clamping component 16 from the material trolley 20. In this embodiment, two transmission assemblies 15 are symmetrically arranged on the support assembly 13 and are respectively connected to the driving assembly 14; in other embodiments, the number of transmission assemblies 15 can also be one, three or other plurality, and the specific number is set according to actual needs.
[0030] See also Figure 1 , Figure 2 , Figure 3 and Figure 5As shown, in this embodiment, the self-adjusting component 12 includes a fixed seat 121, a roll capstan seat 122, multiple first springs 123, a pitch capstan seat 124 and multiple second springs 125; the fixed seat 121 is fixedly set on the connecting member 11; the roll capstan seat 122 is rotatably set on the fixed seat 121 along the X-axis direction, and can rotate forward and backward relative to the fixed seat 121; multiple first springs 123 are respectively arranged on the front and rear sides of the roll capstan seat 122, so as to realize the adaptive adjustment of the height and angle of the front and rear sides of the automatic docking mechanism 10; the pitch capstan seat 124 is rotatably set on the roll capstan seat 122 along the Y-axis direction, and can rotate left and right relative to the roll capstan seat 122; multiple second springs 125 are respectively arranged on the left and right sides of the pitch capstan seat 124, so as to realize the adaptive adjustment of the height and angle of the left and right sides of the automatic docking mechanism 10. When the ground is uneven and there is a height difference or angle difference between the AGV body and the material trolley 20, the automatic docking mechanism 10 can rotate around the rolling capstan 122 and restore the horizontal state under the action of multiple first springs 123, or rotate around the pitching capstan 124 and restore the horizontal state under the action of multiple second springs 125. The rotation axes of the rolling capstan 122 and the pitching capstan 124 are arranged perpendicular to each other, so the automatic docking mechanism 10 can achieve adaptive adjustment of height and angle. In other embodiments, the positions of the rolling capstan 122 and the pitching capstan 124 can be swapped, and the height and angle of the automatic docking mechanism 10 can also be adaptively adjusted through the self-adjusting component 12.
[0031] See also Figure 1-Figure 5 As shown, in this embodiment, the driving assembly 14 includes a driving body 141, a rotating shaft 142 and an unlocking knob 143; the driving body 141 is arranged on the supporting assembly 13; the rotating shaft 142 is connected to the driving body 141 by transmission, the driving body 141 drives the rotating shaft 142 to rotate, and the rotating shaft 142 drives the transmission assembly 15 to move; the unlocking knob 143 is arranged on the driving body 141 and is connected to the rotating shaft 142 by transmission, and it can manually drive the rotating shaft 142 to rotate. Specifically, the driving body 141 adopts a motor; when the driving body 141 does not receive a signal, the unlocking knob 143 can be manually rotated clockwise or counterclockwise to rotate the rotating shaft 142 to realize the manual docking or disengagement of the automatic docking mechanism 10 and the material trolley 20.
[0032] See also Figure 2-Figure 4As shown, in this embodiment, the transmission assembly 15 includes a slider 151, a first connecting rod 152, a second connecting rod 153 and a third connecting rod 154; the slider 151 is arranged on the rotating shaft 142, and the rotating shaft 142 drives the slider 151 to move thereon; the first connecting rod 152 is connected to the slider 151, and the slider 151 drives the first connecting rod 152 to rotate; the second connecting rod 153 is movably arranged in the supporting assembly 13 and is respectively connected to the first connecting rod 152 and the third connecting rod 154; the third connecting rod 154 is transmission-connected to the clamping assembly 16; the driving assembly 14 drives the clamping assembly 16 to rotate through the slider 151, the first connecting rod 152, the second connecting rod 153 and the third connecting rod 154 in turn, thereby realizing automatic docking or disengagement of the clamping assembly 16 and the material trolley 20. Specifically, a first sensing device 1511 and a second sensing device 1512 are respectively provided on both sides of the slider 151. The first sensing device 1511 senses the distance the slider 151 moves to the right, and the second sensing device 1512 senses the distance the slider 151 moves to the left, thereby giving a signal to the driving body 141 to stop; the first sensing device 1511 and the second sensing device 1512 both include a sensing sheet and a sensing switch. The sensing sheet is fixedly provided on the slider 151 and moves along with the movement of the slider 151; the sensing switch is fixedly provided on the supporting assembly 13. When the sensing sheet follows the slider 151 to move to the position of the sensing switch, a signal is transmitted to the driving body 141 to stop rotating.
[0033] See also Figure 1-Figure 6As shown, in this embodiment, the clamping assembly 16 includes a third sensing device 161, at least one reset spring 162 and a clamping jaw body 163; the third sensing device 161 is arranged on the supporting assembly 13, and senses the contact status between the material trolley 20 and the automatic docking mechanism 10; at least one reset spring 162 is arranged between the supporting assembly 13 and the third sensing device 161, and provides a restoring force to the third sensing device 161, so that the third sensing device 161 returns to the initial position; the clamping jaw body 163 is transmission-connected to the third connecting rod 154 and is arranged opposite to the third sensing device 161, and the driving assembly 14 drives the clamping jaw body 163 to rotate through the transmission assembly 15, so that the clamping jaw body 163 and the third sensing device 161 cooperate to realize the docking or separation of the automatic docking mechanism 10 and the material trolley 20. Specifically, the third sensing device 161 includes a sensing plate 1611 and a first sensing switch 1612. The sensing plate 1611 is rotatably disposed on the support assembly 13 and is disposed opposite to the clamp body 163. At least one reset spring 162 is disposed between the support assembly 13 and the sensing plate 1611 to provide a restoring force to the sensing plate 1611. The first sensing switch 1612 is fixedly disposed on the support assembly 13 and can monitor the movement of the sensing plate 1611 in real time. When the first sensing switch 1612 senses the sensing plate 1611, it transmits a signal to the driving body 141 to start working. Specifically, a groove 1631 is provided on the clamp body 163. When a vertical rod is vertically provided on the cross bar 21 of the material trolley 20, the groove 1631 can avoid the vertical rod to prevent interference; in order to reduce the damage of the cross bar 21 on the material trolley 20 to the contact position of the clamp body 163, a soft pad 1632 is provided at the position corresponding to the cross bar 21 of the clamp body 163, and the soft pad 1632 can also enhance the friction between the clamp body 163 and the cross bar 21.
[0034] The utility model provides an automatic guided transport vehicle including the automatic docking mechanism 10, a material trolley 20 and an AGV body; the automatic docking mechanism 10 is arranged on the AGV body and can be detachably and automatically docked with the material trolley 20, and the AGV body drives the material trolley 20 to move through the automatic docking mechanism 10.
[0035] It should be noted that the specific working process of an automatic docking mechanism and an automatic guided transport vehicle is as follows: when the AGV body drives the automatic docking mechanism 10 set thereon to move to the docking position, the crossbar 21 of the material trolley 20 will squeeze the induction plate 1611, and the induction plate 1611 rotates to trigger the first induction switch 1612, which sends a signal to make the driving body 141 rotate forward, and the rotating shaft 142 drives the slider 151 set thereon to move rightward, and the first connecting rod 152, the second connecting rod 153, and the third connecting rod 154 drive the clamping claw body 163 to rotate in turn, so that the crossbar 21 is clamped between the induction plate 1611 and the clamping claw body 1 63, and at the same time, the reset spring 162 is compressed. When the induction sheet on the first induction device 1511 that follows the slider 151 to move to the right moves to the corresponding induction switch, a signal is sent to stop the driving body 141 from rotating. At this time, the second connecting rod 153 and the third connecting rod 154 are in a straight line, that is, the dead point state of the mechanism. Even if the driving body 141 is powered off, the clamping claw body 163 will not rotate, and the traction force of the material trolley 20 will not directly act on the driving body 141. This can prevent the material trolley 20 from loosening and protect the driving body 141 from being overloaded and burned.
[0036] When the AGV body drives the material trolley 20 to the target position through the automatic docking mechanism 10, the driving body 141 reverses, and the rotating shaft 142 drives the slider 151 set thereon to move to the left, and drives the clamping claw body 163 to rotate in the opposite direction through the first connecting rod 152, the second connecting rod 153, and the third connecting rod 154 in turn, so that the cross bar 21 slowly disengages from the clamping of the sensing plate 1611 and the clamping claw body 163. When the sensing piece on the second sensing device 1512 that follows the leftward movement of the slider 151 moves to the corresponding sensing switch, a signal is sent to stop the driving body 141 from rotating. At this time, the clamping claw body 163 droops to a height lower than the cross bar 21, and the AGV body can drive the automatic docking mechanism 10 to move away from the material trolley 20, thereby realizing the disengagement operation of the automatic docking mechanism 10 and the material trolley 20; at the same time, under the restoring force of the reset spring 162, the sensing plate 1611 returns to its initial position, so that the first sensing switch 1612 is released from the trigger state.
[0037] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0038] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.
Claims
1. An automatic docking mechanism, characterized in that: include: A self-adjusting component that can simultaneously achieve adaptive adjustment of the height and angle of the automatic docking mechanism; A support assembly, which is fixedly arranged on the self-adjusting assembly; A driving assembly, which is arranged on the supporting assembly; At least one transmission assembly, which is movably disposed on the support assembly and is in transmission connection with the drive assembly; A clamping assembly, which is movably disposed on the supporting assembly and is in transmission connection with at least one of the transmission assemblies; Wherein, the clamping assembly comprises a third sensing device, which is arranged on the supporting assembly; At least one return spring is arranged between the support assembly and the third sensing device; a clamping jaw body is transmission-connected to the transmission assembly and arranged opposite to the third sensing device, and the driving assembly drives the clamping jaw body to rotate through the transmission assembly, so that the clamping jaw body and the third sensing device cooperate to automatically dock or detach the cross bar of the material trolley.
2. The automatic docking mechanism according to claim 1, characterized in that: The self-adjusting component includes a fixed seat; a roll capstan seat arranged on the fixed seat and rotating along the X-axis direction; a plurality of first springs respectively arranged on both sides of the roll capstan seat; a pitch capstan seat arranged on the roll capstan seat and rotating along the Y-axis direction; and a plurality of second springs respectively arranged on both sides of the pitch capstan seat.
3. The automatic docking mechanism according to claim 2, characterized in that: The rotation axes of the rolling capstan and the pitching capstan are arranged perpendicular to each other.
4. The automatic docking mechanism according to claim 1, characterized in that: The driving assembly includes a driving body and a rotating shaft. The driving body is fixedly arranged on the supporting assembly. The rotating shaft is transmission-connected with the driving body. The driving body drives the transmission assembly to move via the rotating shaft.
5. The automatic docking mechanism according to claim 4, characterized in that: The driving assembly further comprises an unlocking knob, which is arranged on the driving body and is transmission-connected to the rotating shaft, and the unlocking knob can manually drive the rotating shaft to rotate.
6. The automatic docking mechanism according to claim 4, characterized in that: The transmission assembly includes a slider, which is movably arranged on the rotating shaft; a first connecting rod connected to the slider; a second connecting rod movably arranged in the supporting assembly and connected to the first connecting rod; a third connecting rod connected to the second connecting rod and the clamping assembly at both ends; when the clamping assembly clamps the cross bar of the material trolley, the second connecting rod and the third connecting rod are in a straight line.
7. The automatic docking mechanism according to claim 6, characterized in that: A first sensing device and a second sensing device are respectively arranged on both sides of the slider, both of which include a sensing sheet and a sensing switch; the sensing sheet is fixedly arranged on the slider; the sensing switch is fixedly arranged on the supporting assembly and can monitor the movement of the corresponding sensing sheet in real time.
8. The automatic docking mechanism according to claim 1, characterized in that: The third sensing device comprises a sensing plate, which is rotatably arranged on the supporting assembly and is arranged opposite to the clamping jaw body; and a first sensing switch fixedly arranged on the supporting assembly, which can monitor the movement of the sensing plate in real time.
9. The automatic docking mechanism according to claim 1, characterized in that: A groove is arranged on the clamping jaw body; and a soft pad is arranged at a position of the clamping jaw body corresponding to the cross bar.
10. An automated guided vehicle, characterized in that: It comprises the automatic docking mechanism, a material trolley and an AGV body as described in any one of claims 1 to 9; the automatic docking mechanism is arranged on the AGV body and can be detachably and automatically docked with the cross bar of the material trolley.