Automatic butt-joint traction AGV (Automatic Guided Vehicle) device

Abstract

The utility model discloses an automatic butt-joint traction AGV (automatic guided vehicle) device, which comprises an AGV main body, the two driving wheel mechanisms are respectively arranged on two sides of the frame; the swing mechanism is movably arranged at the lower end of the frame and can swing left and right and be centered and fixed relative to the frame; the automatic docking mechanism is detachably arranged on the swinging mechanism and can be used for automatically docking or separating the material vehicle; the swinging mechanism comprises a swinging plate arranged below the frame; the slewing bearing is fixedly arranged on the swing plate; the second driving motor is fixedly arranged on the frame; and the driving gear is fixedly arranged on a rotating shaft of the second driving motor and is in meshed connection with the slewing bearing. According to the AGV traction device, automatic butt joint and flexible transfer operation of the AGV traction device are achieved through cooperation of the automatic butt joint mechanism and the swing mechanism, the site area occupied by AGV traction material operation is compressed to a large extent, and more concise and more flexible logistics conveying is achieved through cooperation with an obstacle avoidance navigation system.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV equipment, in particular to an automatic docking and towing AGV device. Background Art

[0002] Automated Guided Vehicle (AGV) for short; it provides power through a single or multiple drive wheels to enable the AGV to move forward, backward or laterally.

[0003] In existing logistics transfer places such as warehouses, factories and construction sites, millions of tons of manual handling carts and wheelbarrows cannot be automated every day; the structure of traditional towing AGVs is generally relatively complex, including a ground guidance system, docking equipment, etc. These complex supporting facilities increase the cost and maintenance difficulty of the overall system. At the same time, the flexibility of the traditional towing AGV system in a limited space is poor, especially in an environment that requires a high-density layout, and it is greatly restricted by the site area. Due to the scattered structure of the towing AGV, the vehicle body size is usually large, which makes it difficult to operate and turn in a narrow space, and also increases the sweeping area during transportation. Traditional towing AGVs need to cooperate with many other devices, such as ground guide wires, docking devices, etc., which leads to a large system integration difficulty, and the installation and commissioning processes are relatively cumbersome, and the requirements for the on-site environment are relatively high. Due to the complex supporting facilities, the cost of the overall system is relatively high, and often requires a large investment, which to a certain extent limits its application in small and medium-sized enterprises; therefore, an automatic docking and towing AGV device is provided to solve the above problems. Summary of the Invention

[0004] One of the purposes of the utility model is to provide an automatic docking and towing AGV device to facilitate solving the problem that the existing towing AGV has a relatively scattered structure layout and a large vehicle body size, resulting in the AGV layout planning being restricted by the on-site site area.

[0005] An automatic docking and towing AGV device of the utility model can be realized by the following technical solutions:

[0006] An automatic docking and towing AGV device of the utility model includes an AGV main body, which includes a vehicle frame; two drive wheel mechanisms, which are respectively arranged on both sides of the vehicle frame; a swing mechanism, which is movably arranged at the lower end of the vehicle frame, and the swing mechanism can swing left and right and be centered and fixed relative to the vehicle frame; an automatic docking mechanism, which is detachably arranged on the swing mechanism, and the automatic docking mechanism can automatically dock with or disengage from a material vehicle.

[0007] Wherein, the swing mechanism includes a swing plate disposed below the vehicle frame; a slewing bearing fixedly disposed on the swing plate; a second driving motor fixedly disposed on the vehicle frame; a driving gear fixedly disposed on the rotating shaft of the second driving motor, which is meshed and connected with the slewing bearing; and at least one second universal wheel movably disposed below the swing plate.

[0008] In one implementation, an induction sensor is disposed at the bottom of the vehicle frame; an induction sheet is fixedly disposed on the swing plate, and the induction sheet cooperates with the induction sensor to perform zero-point positioning on the position of the swing plate.

[0009] In one implementation, the AGV main body further includes a housing fixedly disposed on the vehicle frame, and the housing and the vehicle frame form a hollow cavity; a circuit board and a battery assembly respectively disposed in the cavity; an obstacle avoidance and navigation system disposed on the vehicle frame and penetrating the housing; a display control assembly penetrating the housing; a charging interface fixedly disposed on the vehicle frame; and the circuit board is electrically connected to the obstacle avoidance and navigation system, the display control assembly, the charging interface, the battery assembly, the two driving wheel mechanisms, the swing mechanism, and the automatic docking mechanism respectively.

[0010] In one implementation, a guiding rod is vertically disposed on the vehicle frame, and a plurality of counterweight blocks are respectively detachably disposed on the guiding rod.

[0011] In one implementation, a scanning camera and a first universal wheel are further disposed at the bottom of the vehicle frame, and the first universal wheel is suspended and arranged in a triangular pattern with the two driving wheel mechanisms.

[0012] In one implementation, the driving wheel mechanism includes a first driving motor fixedly disposed on the vehicle frame; a driving wheel main body in transmission connection with the first driving motor; and a hub counterweight block disposed on the driving wheel main body.

[0013] In one implementation, the automatic docking mechanism includes a self-adjusting component detachably connected to the swing plate; a support component and a driving component sequentially disposed on the self-adjusting component; two transmission components movably disposed on the support component and in transmission connection with the driving component; and a clamping component movably disposed on the support component and in transmission connection with the two transmission components.

[0014] In one of the embodiments, the self-adjusting component includes a fixed seat detachably disposed on the swing plate; a roll hinge seat rotatably disposed on the fixed seat along the X-axis direction; a plurality of first springs respectively disposed on the front and rear sides of the roll hinge seat; a pitch hinge seat rotatably disposed on the roll hinge seat along the Y-axis direction; a plurality of second springs respectively disposed on the left and right sides of the pitch hinge seat; and the rotation axes of the roll hinge seat and the pitch hinge seat are perpendicularly arranged.

[0015] In one of the embodiments, the driving component includes a driving main body disposed on the supporting component; a rotating shaft in transmission connection with the driving main body; and an unlocking knob disposed on the driving main body and in transmission connection with the rotating shaft.

[0016] In one of the embodiments, the clamping component includes a third sensing device disposed on the supporting component; at least one reset spring disposed between the supporting component and the third sensing device; and a jaw main body in transmission connection with the two transmission components and oppositely disposed to the third sensing device.

[0017] Compared with the prior art, the beneficial effects of the automatic docking and towing AGV device of the present utility model are as follows:

[0018] The automatic docking and towing AGV device of the present utility model realizes the automatic docking and flexible transfer operation of the towing AGV device through the cooperation of the automatic docking mechanism and the swing mechanism, greatly compresses the site area occupied by the AGV towing materials operation, and realizes a more concise and flexible logistics transportation in cooperation with the obstacle avoidance navigation system; at the same time, it has the characteristics of compact structure and small volume, so as to facilitate the docking and towing operation in different sites;

[0019] The automatic docking and towing AGV device of the present utility model respectively sets counterweights on the vehicle frame and the driving wheel mechanism, so that the center of gravity position of the towing AGV device is close to the driving wheel mechanism, the positive pressure ratio of the driving wheel mechanism is large, and the contact surface between the driving wheel and the ground is large, obtaining a greater traction force; at the same time, by suspending a universal wheel at the bottom of the vehicle frame, the situation of the AGV main body tipping over is effectively prevented;

[0020] The automatic docking and towing AGV device of the present utility model drives the jaw main body to rotate through the transmission component, so that the jaw main body and the third sensing device cooperate to automatically dock or disengage from the cross bar of the material trolley, effectively realizing the function of adapting to the towing AGV without modifying the material trolley, and reducing the introduction difficulty of the automatic towing AGV equipment to a certain extent; at the same time, by rotating the unlocking knob clockwise or counterclockwise, the rotating shaft drives the transmission component to rotate, so as to realize the manual docking or disengagement of the automatic docking mechanism and the material trolley;

[0021] In this utility model, an automatic docking and towing AGV device realizes the left - right swinging function of the swinging mechanism through the cooperation of a slewing bearing and a driving gear. At the same time, the zero - point positioning of the position of the swinging plate is carried out through the cooperation of an induction sensor arranged at the bottom of the vehicle frame and an induction sheet arranged on the swinging plate. Then, through the mutual cooperation of the second driving motor, the slewing bearing and the driving gear, the centering and fixing reset of the swinging plate is realized, which is convenient for the towing AGV device to reverse and realize the automatic docking operation or realize the turning operation through the differential speed of the two driving wheel mechanisms. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of this 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 some embodiments of this utility model, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0023] Figure 1 is a three - dimensional structural schematic diagram of an automatic docking and towing AGV device of this utility model;

[0024] Figure 2 is Figure 1 a structural schematic diagram of another perspective of the automatic docking and towing AGV device of this utility model as shown;

[0025] Figure 3 is Figure 1 a bottom - view structural schematic diagram of the automatic docking and towing AGV device of this utility model as shown;

[0026] Figure 4 is Figure 1 a structural schematic diagram of the dial - explosion structure of the automatic docking and towing AGV device of this utility model as shown, including an automatic docking mechanism;

[0027] Figure 5 is Figure 4 a three - dimensional structural schematic diagram of the automatic docking mechanism as shown;

[0028] Figure 6 is Figure 5 a cross - sectional state schematic diagram of the automatic docking mechanism as shown.

[0029] Labels in the figure: 10, AGV main body; 11, frame; 111, guide rod; 112, counterweight; 113, induction sensor; 114, scanning camera; 115, first universal wheel; 12, housing; 13, circuit board; 14, obstacle avoidance and navigation radar; 15, identification and obstacle avoidance camera; 16, laser rangefinder; 17, display and control component; 18, charging interface; 19, battery component; 20, drive wheel mechanism; 21, first drive motor; 22, drive wheel main body; 23, wheel hub counterweight; 30, swing mechanism; 31, swing plate; 311, induction piece; 32, slewing bearing; 33, second drive motor; 34, driving gear; 35, second universal wheel; 40, automatic docking mechanism; 41, self-adjusting component; 411, fixed seat; 412, rolling hinge seat; 413, first spring; 414, pitching hinge seat; 415, second spring; 42, support component; 43, drive component; 431, drive main body; 432, rotating shaft; 433, unlocking knob; 44, transmission component; 441, slider; 442, first connecting rod; 443, second connecting rod; 444, third connecting rod; 45, clamping component; 451, third sensing device; 4511, sensing plate; 4512, first sensing switch; 452, return spring; 453, jaw main body. Detailed implementation manners

[0030] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. Usually, the mechanisms of the embodiments of the present invention described and shown in the accompanying drawings here can be arranged and designed in various different configurations.

[0031] 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 claimed present invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] Please refer to Figures 1-4 As shown, an automatic docking and towing AGV device of the present utility model mainly includes an AGV main body 10, two drive wheel mechanisms 20, a swing mechanism 30 and an automatic docking mechanism 40; the AGV main body 10 is an induction control main body; the two drive wheel mechanisms 20 are respectively arranged on both sides of the AGV main body 10, and drive the AGV main body 10 to move; the swing mechanism 30 is movably arranged at the lower end of the AGV main body 10, and can swing left and right relative to the AGV main body 10 and be fixed in the middle; the automatic docking mechanism 40 is detachably arranged on the swing mechanism 30, and can automatically dock with or disengage from the material vehicle.

[0033] Please refer to Figure 1 、 Figure 2 and Figure 4 As shown, the AGV main body 10 includes a frame 11, a housing 12, a circuit board 13, at least one obstacle avoidance and navigation radar 14, at least one identification and obstacle avoidance camera 15, at least one laser rangefinder 16, a display and control component 17, a charging interface 18, and a battery component 19; the frame 11 is the supporting main body; the housing 12 is fixedly arranged on the frame 11, and forms a hollow cavity with the frame 11; the circuit board 13 and the battery component 19 are respectively fixedly arranged in this cavity, and the circuit board 13 is electrically connected to at least one obstacle avoidance and navigation radar 14, at least one identification and obstacle avoidance camera 15, at least one laser rangefinder 16, a display and control component 17, a charging interface 18, a battery component 19, two drive wheel mechanisms 20, a swing mechanism 30, and an automatic docking mechanism 40 respectively. The battery component 19 provides electrical energy for the circuit board 13, at least one obstacle avoidance and navigation radar 14, at least one identification and obstacle avoidance camera 15, at least one laser rangefinder 16, a display and control component 17, two drive wheel mechanisms 20, a swing mechanism 30, and an automatic docking mechanism 40 respectively; at least one obstacle avoidance and navigation radar 14, at least one identification and obstacle avoidance camera 15, and at least one laser rangefinder 16 are respectively arranged on the frame 11 and penetrate the housing 12, and the three of them form the obstacle avoidance and navigation system of the AGV main body 10; the display and control component 17 penetrates through the housing 12, and switches, emergency stops, displays, and function settings can be performed through the display and control component 17; the charging interface 18 is arranged on the frame 11, and the battery component 19 is charged through it. In this embodiment, the two obstacle avoidance and navigation radars 14 are respectively arranged at the upper end and the front end of the AGV main body 10, the two identification and obstacle avoidance cameras 15 are respectively arranged at the front end and the rear end of the AGV main body 10, and the two laser rangefinders 16 are respectively arranged at the rear end of the AGV main body 10.

[0034] Please refer to Figure 3 and Figure 4As shown, specifically, a guide rod 111 is vertically arranged on the frame 11, and a plurality of counterweights 112 are detachably arranged on the guide rod 111. The weight of the AGV body 10 is adjusted by the plurality of counterweights 112 so that the center of gravity is overall forward, so that the driving wheel mechanism 20 has as much positive pressure proportional distribution as possible, and obtains greater traction; an induction sensor 113 and a scanning camera 114 are arranged at the bottom of the frame 11, and the swing mechanism 30 is positioned by the induction sensor 113, and the parking position is positioned by the scanning camera 114; a first universal wheel 115 is also arranged at the bottom of the frame 11, and the first universal wheel 115 is suspended and arranged in a triangle with the two driving wheel mechanisms 20. When the AGV body 10 moves forward and triggers an emergency stop, the AGV body 10 will tip forward due to the action of the inertia force, and at this time, the first universal wheel 115 touches the ground, thereby effectively preventing the AGV body 10 from tipping over.

[0035] Please refer to Figure 4 As shown, in this embodiment, the circuit board 13 is electrically connected to at least one obstacle avoidance navigation radar 14, at least one obstacle avoidance camera 15, at least one laser rangefinder 16, a display control component 17, a charging port 18, a battery component 19, two drive wheel mechanisms 20, a swing mechanism 30, and an automatic docking mechanism 40. The control technologies used are all existing technologies, so the specific control process and the models used are not described here, as long as they meet the requirements of this application. Specifically, the display control component 17 includes a display screen and multiple buttons, and the operating status of the equipment is displayed in real time through the display screen; the multiple buttons include a switch button, a function button, and an emergency stop button, and the switch button, the function button, and the emergency stop button are used to control the switch, function setting, and emergency stop operation of the equipment.

[0036] Please refer to Figures 1-4 As shown, in this embodiment, the driving wheel mechanism 20 includes a first driving motor 21, a driving wheel body 22 and a hub counterweight 23; the first driving motor 21 is fixedly arranged on the frame 11; the driving wheel body 22 is in transmission connection with the first driving motor 21, and the first driving motor 21 drives the driving wheel body 22 to rotate, thereby realizing the forward, backward or turning operation of the AGV body 10; the hub counterweight 23 is arranged on the driving wheel body 22, and the weight of the driving wheel body 22 is increased by the hub counterweight 23. Specifically, the first driving motor 21 adopts a four-in-one servo motor.

[0037] Please refer to Figure 3 and Figure 4As shown in the figure, the swing mechanism 30 includes a swing plate 31, a slewing bearing 32, a second drive motor 33, a driving gear 34, and at least one second universal wheel 35. The swing plate 31 is arranged below the vehicle frame 11. The slewing bearing 32 is fixedly arranged on the swing plate 31. The second drive motor 33 is fixedly arranged on the vehicle frame 11. The driving gear 34 is fixedly arranged on the rotating shaft of the second drive motor 33 and rotates following the rotation of the rotating shaft of the second drive motor 33. The driving gear 34 is meshed and connected with the slewing bearing 32. At least one second universal wheel 35 is movably arranged below the swing plate 31 and can be in contact connection with the ground. Specifically, an induction sheet 311 is fixedly arranged on the swing plate 31, which cooperates with the induction sensor 113 to perform zero-point positioning on the position of the swing plate 31, facilitating the second drive motor 33 to drive the swing plate 31 to center through the driving gear 34 and the slewing bearing 32 in sequence. At the same time, the second drive motor 33 is enabled, so that the position of the swing plate 31 is relatively fixed with respect to the vehicle frame 11 to complete centering and resetting, and directly reverse to achieve automatic docking operation or turn through the differential speed of the two drive wheel mechanisms 20. When the towing AGV device is driving normally, the left and right swing function of the swing plate 31 is realized through the meshing connection of the slewing bearing 32 and the driving gear 34, facilitating the towing AGV device to tow the material vehicle forward. Specifically, the rotation center of the swing plate 31 coincides with the rotation centers of the two drive wheel mechanisms 20 and the swing amplitude is greater than 40°

[0038] Please refer to Figures 1-6 As shown in the figure, in this embodiment, the automatic docking mechanism 40 includes a self-adjusting component 41, a support component 42, a drive component 43, two transmission components 44, and a clamping component 45. The self-adjusting component 41 is detachably connected to the swing plate 31, enabling the automatic docking mechanism 40 to achieve adaptive adjustment of height and angle. The support component 42 is arranged on the self-adjusting component 41 and supports the drive component 43, the two transmission components 44, and the clamping component 45 respectively. The drive component 43 is arranged on the support component 42. The two transmission components 44 are rotatably arranged on the support component 42 and are in transmission connection with the drive component 43. The clamping component 45 is movably arranged on the support component 42 and is in transmission connection with the two transmission components 44. The drive component 43 drives the clamping component 45 to rotate through the two transmission components 44, thereby realizing the automatic docking or detachment of the clamping component 45 from the material vehicle.

[0039] Please refer to Figure 5 and Figure 6As shown, in this embodiment, the self-adjusting component 41 includes a fixed seat 411, a roll hinge seat 412, multiple first springs 413, a pitch hinge seat 414, and multiple second springs 415; the fixed seat 411 is detachably and fixedly arranged on the swing plate 31; the roll hinge seat 412 is rotatably arranged on the fixed seat 411 along the X-axis direction, and it can rotate forward and backward relative to the fixed seat 411; multiple first springs 413 are respectively arranged on the front and rear sides of the roll hinge seat 412, so as to realize the adaptive adjustment of the height and angle on the front and rear sides of the automatic docking mechanism 40; the pitch hinge seat 414 is rotatably arranged on the roll hinge seat 412 along the Y-axis direction, and it can rotate left and right relative to the roll hinge seat 412; multiple second springs 415 are respectively arranged on the left and right sides of the pitch hinge seat 414, so as to realize the adaptive adjustment of the height and angle on the left and right sides of the automatic docking mechanism 40. When the ground is uneven and there is a height difference or an angle difference between the AGV main body and the material vehicle, the automatic docking mechanism 40 can rotate around the roll hinge seat 412 and return to the horizontal state under the action of multiple first springs 413, or it can also rotate around the pitch hinge seat 414 and return to the horizontal state under the action of multiple second springs 415. The rotation axes of the roll hinge seat 412 and the pitch hinge seat 414 are arranged perpendicular to each other. Therefore, the automatic docking mechanism 40 can realize the adaptive adjustment of height and angle.

[0040] Please refer to Figure 6 As shown, in this embodiment, the drive component 43 includes a drive main body 431, a rotating shaft 432, and an unlocking knob 143; the drive main body 431 is arranged on the support component 42; the rotating shaft 432 is in transmission connection with the drive main body 431, and the drive main body 431 drives the rotating shaft 432 to rotate, and the rotating shaft 432 drives the transmission component 44 to move; the unlocking knob 143 is arranged on the drive main body 431 and is in transmission connection with the rotating shaft 432, and it can manually drive the rotating shaft 432 to rotate. Specifically, the drive main body 431 is a servo motor; when the drive main body 431 fails to receive a signal, the unlocking knob 143 can be manually rotated clockwise or counterclockwise, so that the rotating shaft 432 rotates to realize the manual docking or detachment of the automatic docking mechanism 40 and the material vehicle.

[0041] Please refer to Figure 6As shown, specifically, the transmission assembly 44 includes a slider 441, a first connecting rod 442, a second connecting rod 443, and a third connecting rod 444; the slider 441 is arranged on the rotating shaft 432, and the rotating shaft 432 drives the slider 441 to move thereon; the first connecting rod 442 is connected to the slider 441, and the slider 441 drives the first connecting rod 442 to rotate; the second connecting rod 443 is movably arranged in the support assembly 42 and is respectively connected to the first connecting rod 442 and the third connecting rod 444; the third connecting rod 444 is in transmission connection with the clamping assembly 45; the driving assembly 43 drives the clamping assembly 45 to rotate successively through the slider 441, the first connecting rod 442, the second connecting rod 443, and the third connecting rod 444, so as to realize the automatic docking or detachment of the clamping assembly 45 and the material truck. Specifically, a first sensing device and a second sensing device are respectively arranged on both sides of the slider 441. The first sensing device senses the distance that the slider 441 moves to the right, and the second sensing device senses the distance that the slider 441 moves to the left, so as to give a signal for the driving body 431 to stop; both the first sensing device and the second sensing device include a sensing piece and a sensing switch. The sensing piece is fixedly arranged on the slider 441 and moves along with the movement of the slider 441; the sensing switch is fixedly arranged on the support assembly 42. When the sensing piece moves to the position of the sensing switch along with the slider 441, it transmits a signal to the driving body 431 to stop rotating.

[0042] Please refer to Figure 5 and Figure 6 As shown, specifically, the clamping assembly 45 includes a third sensing device 161, at least one return spring 452, and a jaw body 453; the third sensing device 161 is arranged on the support assembly 42, and it senses the contact condition between the material truck and the automatic docking mechanism 40; at least one return spring 452 is arranged between the support assembly 42 and the third sensing device 161, and it provides a restoring force for the third sensing device 161 to make the third sensing device 161 return to the initial position; the jaw body 453 is in transmission connection with the third connecting rod 444 and is arranged opposite to the third sensing device 161. The driving assembly 43 drives the jaw body 453 to rotate through the transmission assembly 44, so that the jaw body 453 and the third sensing device 161 cooperate to realize the docking or detachment of the automatic docking mechanism 40 and the material truck. Specifically, the third sensing device 161 includes a sensing plate 1611 and a first sensing switch 1612. The sensing plate 1611 is rotatably arranged on the support assembly 42 and is arranged opposite to the jaw body 453. At least one return spring 452 is arranged between the support assembly 42 and the sensing plate 1611, and it provides a restoring force for the sensing plate 1611. The first sensing switch 1612 is fixedly arranged on the support assembly 42 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 431 to start working.

[0043] It should be noted that the specific working process of an automatic docking and towing AGV device of the present utility model is as follows: When the towing AGV device reaches the docking position of the material vehicle, the laser rangefinder 16 feeds back the relative position between the material vehicle and the towing AGV device. The second drive motor 34 drives the swing plate 31 to rotate in sequence through the driving gear 34 and the slewing bearing 32, so that the induction piece 311 arranged on the swing plate 31 triggers the induction sensor 113 arranged at the bottom of the vehicle frame 11, realizing the zero-positioning operation of the position of the swing plate 31. According to this zero-positioning position, the second drive motor 33 drives the swing plate 31 to perform centering operation. At the same time, the second drive motor 33 is enabled, so that the positions of the swing plate 31 and the vehicle frame 11 are relatively fixed to complete the reset; the towing AGV device retreats to drive the automatic docking mechanism 40 to move to the docking position of the material vehicle. The cross bar on the material vehicle presses the induction plate 4511, and the induction plate 4511 rotates to trigger the first induction switch 4512, sending a signal to make the driving main body 431 rotate forward. The rotating shaft 432 drives the slider 441 arranged thereon to move to the right, and drives the jaw main body 453 to rotate in sequence through the first connecting rod 442, the second connecting rod 443 and the third connecting rod 444, so as to clamp the cross bar between the induction plate 4511 and the jaw main body 453, completing the automatic docking operation of the automatic docking mechanism 40 and the material vehicle; then, the material vehicle is transported to the target position through the cooperation of the AGV main body 10 and the drive wheel mechanism 20, and the automatic separation operation of the material vehicle is carried out through the automatic docking mechanism 40, so as to realize the automatic docking and towing operation of the whole material vehicle.

[0044] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0045] The above-described embodiments only express several implementation manners of the present utility model, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several deformations and improvements can still be made, and these all belong to the protection scope of the present utility model. Therefore, the protection scope of the utility model patent shall be subject to the appended claims.

Claims

1. An automatic docking and traction AGV device, characterized in that: include: The AGV body includes a frame; Two driving wheel mechanisms, which are respectively arranged on both sides of the frame; A swing mechanism, which is movably arranged at the lower end of the frame, and can swing left and right and be fixed in the center relative to the frame; An automatic docking mechanism, which is detachably arranged on the swing mechanism, and can automatically dock or detach the material vehicle; The swing mechanism includes a swing plate, which is arranged below the frame; a slewing bearing fixedly arranged on the swing plate; a second drive motor fixedly arranged on the frame; a driving gear fixedly arranged on the rotating shaft of the second drive motor, which is meshed and connected with the slewing bearing; At least one second universal wheel is movably arranged below the swing plate.

2. The automatic docking and traction AGV device according to claim 1, characterized in that: An inductive sensor is arranged at the bottom of the frame; an inductive sheet is fixedly arranged on the swing plate, and the inductive sheet cooperates with the inductive sensor to perform zero-point positioning on the position of the swing plate.

3. The automatic docking and traction AGV device according to claim 1, characterized in that: The AGV body also includes a shell, which is fixedly arranged on the frame, and the shell and the frame form a hollow cavity; a circuit board and a battery assembly are respectively arranged in the cavity; an obstacle avoidance navigation system is arranged on the frame and passes through the shell; A display control component is arranged on the shell through; a charging interface is fixedly arranged on the frame; and the circuit board is electrically connected to the obstacle avoidance navigation system, the display control component, the charging interface, the battery component, the two driving wheel mechanisms, the swing mechanism, and the automatic docking mechanism respectively.

4. The automatic docking and traction AGV device according to claim 3, characterized in that: A guide rod is vertically arranged on the frame, and a plurality of counterweight blocks are detachably arranged on the guide rod.

5. The automatic docking and traction AGV device according to claim 3, characterized in that: A scanning camera and a first universal wheel are also provided at the bottom of the frame. The first universal wheel is suspended in the air and is arranged in a triangle with the two driving wheel mechanisms.

6. The automatic docking and traction AGV device according to claim 1, characterized in that: The driving wheel mechanism comprises a first driving motor fixedly arranged on the vehicle frame; a driving wheel body drivingly connected to the first driving motor; and a wheel hub counterweight block arranged on the driving wheel body.

7. The automatic docking and traction AGV device according to claim 1, characterized in that: The automatic docking mechanism includes a self-adjusting component, which is detachably connected to the swing plate; a support component and a drive component arranged on the self-adjusting component in sequence; two transmission components movably arranged on the support component and transmission-connected to the drive component; and a clamping component movably arranged on the support component and transmission-connected to the two transmission components.

8. The automatic docking and traction AGV device according to claim 7, characterized in that: The self-adjusting component includes a fixed seat, which is detachably arranged on the swing plate; a roll capstan seat arranged on the fixed seat and rotatable along the X-axis direction; a plurality of first springs respectively arranged on the front and rear sides of the roll capstan seat; a pitch capstan seat arranged on the roll capstan seat and rotatable along the Y-axis direction; a plurality of second springs respectively arranged on the left and right sides of the pitch capstan seat; the rotation axes of the roll capstan seat and the pitch capstan seat are arranged perpendicular to each other.

9. The automatic docking and traction AGV device according to claim 7, characterized in that: The driving assembly comprises a driving body, which is arranged on the supporting assembly; a rotating shaft drivingly connected to the driving body; and an unlocking knob arranged on the driving body and drivingly connected to the rotating shaft.

10. The automatic docking and traction AGV device according to claim 7, characterized in that: The clamping assembly includes a third sensing device, which is arranged on the supporting assembly; at least one reset spring arranged between the supporting assembly and the third sensing device; and a clamping jaw body which is transmission-connected to the two transmission assemblies and arranged opposite to the third sensing device.

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