AGV traction mechanism

Abstract

The utility model provides an AGV (automatic guided vehicle) traction mechanism, which relates to the technical field of AGV devices, and comprises a mobile vehicle, rollers and a driving box, the driving box is linked with one group of rollers, the bottom of the mobile vehicle is also fixedly provided with an AGV body, the AGV body is linked with the other group of rollers through a steering mechanism, the mobile vehicle is provided with a traction frame, and the traction frame is fixedly connected with the driving box. Air cylinders are symmetrically and fixedly installed at the bottom end of the moving trolley, the output ends of the air cylinders are fixedly connected with traction rods, and limiting mechanisms are arranged between the traction rods and the traction frame. The traction rod is driven by the air cylinder to move upwards and penetrate out of the space between the fixed clamping block and the movable clamping block, the nut at the top end of the fastening bolt is screwed to move downwards, the nut can extrude the wedge-shaped block to move downwards, and the movable clamping block is extruded to move towards the traction rod through the slopes on the two sides of the wedge-shaped block. And until the movable clamping block is attached to one side of the outer wall of the traction rod and the fixed clamping block is attached to the other side of the outer wall of the traction rod, the movable clamping block and the fixed clamping block are matched to limit the traction rod.

Description

Technical Field

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

[0002] The AGV traction mechanism is a key component of the traction-type AGV unmanned guided vehicle. It is mainly composed of a motor drive device, a lifting traction rod and a control system. It uses the power generated by the motor to drive the lifting traction rod through the transmission mechanism to achieve up and down movements, thereby connecting or disconnecting with the towed vehicle or equipment. This mechanism has the characteristics of compact structure, easy operation and high traction force. It can be widely used in warehousing, automobile, food and other industries to realize automated and efficient handling of goods.

[0003] For example, the Chinese patent application number and publication number CN205915899U discloses an AGV traction anti-slip mechanism, which proposes "including two opposing guide members, a rear connecting plate and a stop pin structure connecting the guide members, and a retreat-stop device pivotally connected to the rear connecting plate; a pin guide channel is formed between the guide members, and the pin guide channel has a pin introduction end and a pin blocking end; the stop pin structure is located in the pin blocking end". Although this structure can enable the lifting pin to automatically enter the traction mechanism and prevent it from escaping from the traction mechanism when retreating, there is also a problem that the lifting pin does not have a device to constrain its up and down movement in the traction mechanism. Therefore, when the transportation route is uneven, there is a dangerous phenomenon that the lifting pin is easily displaced in the vertical direction and escapes from the traction device. Therefore, the utility model proposes an AGV traction mechanism to solve the above problem. Summary of the Invention

[0004] In response to the above problems, the present invention proposes an AGV traction mechanism to solve the problem that the traction mechanism in the prior art does not have a device to constrain its up and down movement. Therefore, when the transportation route is uneven, the lifting pin is prone to vertical displacement and detachment from the traction device.

[0005] To achieve the purpose of the utility model, the utility model is implemented through the following technical solutions: an AGV traction mechanism, including a mobile vehicle, rollers and a drive box, two groups of rollers are symmetrically provided at the bottom of the mobile vehicle, a drive box is fixedly installed at the bottom of the mobile vehicle, the drive box is linked to one group of rollers, an AGV body is also fixedly installed at the bottom of the mobile vehicle, the AGV body is linked to the other group of rollers through a steering mechanism, a traction frame is provided on the mobile vehicle, a cylinder is symmetrically fixedly installed at the bottom end of the mobile vehicle, a traction rod is fixedly connected to the output end of the cylinder, and a limiting mechanism is provided between the traction rod and the traction frame.

[0006] A further improvement is that the limiting mechanism includes a fixed clamping block, a movable clamping block, a wedge block and a fastening bolt, the top of the traction frame is symmetrically fixedly connected with the fixed clamping block, the top of the traction frame is also symmetrically slidably connected with the movable clamping block, and the top of the traction frame is fixedly connected with the fastening bolt.

[0007] A further improvement is that the top end of the fastening bolt passes through the top of the wedge block and is threadedly connected to a nut, the top end of the traction rod passes through the top of the traction frame, and the interiors of the fixed clamping block and the movable clamping block are both provided with arc grooves matching the traction rod, and the two sides of the wedge block are respectively fitted and connected to one side of the two movable clamping blocks.

[0008] A further improvement is that a group of connecting rods are symmetrically fixedly connected to the top of the traction frame, the top of the connecting rods is fixedly connected to a block, the top of the connecting rods is inserted with a supporting plate, the bottom of the supporting plate is fitly connected to the top of the block, and the top of the connecting rods is threadedly connected with a nut.

[0009] Further improvements are: the steering mechanism includes a rotating frame, a No. 1 gear, a No. 2 gear and a self-locking motor, the top of the roller is fixedly connected to the rotating frame, the bottom of the mobile vehicle is symmetrically fixedly connected to a group of No. 1 gears, the top of the rotating frame is rotatably connected to the bottom end of the No. 1 gear, the top of one side of the rotating frame is rotatably connected to the No. 2 gear, the No. 2 gear is meshed with the outer wall of the No. 1 gear, the bottom end of one side of the rotating frame is fixedly installed with a self-locking motor, and the output end of the self-locking motor is fixedly connected to the bottom of the No. 2 gear.

[0010] A further improvement is that a rotating rod is hingedly connected to the outer side of the traction frame through an articulated frame, one end of the rotating rod is rotatably connected to a connecting hook, and one side of the connecting hook is threadedly connected to a locking bolt.

[0011] A further improvement is that: the two sides of the traction frame are symmetrically fixedly connected with slide rail plates, the internal sliding connection of the slide rail plates is connected to a limiting bolt, the bottom end of the limiting bolt is fixedly connected to a top block, the top end of the limiting bolt is penetrated by a sliding block and is also threadedly connected with a nut, and the top end of the sliding block is fixedly connected to the limiting plate.

[0012] The beneficial effects of the present invention are as follows: when the cylinder drives the traction rod to move upward and pass through between the fixed clamp block and the movable clamp block, the nut at the top of the fastening bolt is screwed to move downward, and the nut can squeeze the wedge block to move downward, and the inclined surfaces on both sides of the wedge block are used to squeeze the movable clamp block to move toward the traction rod until the movable clamp block and one side of the outer wall of the traction rod are in contact with each other, and the fixed clamp block is in contact with the other side of the outer wall of the traction rod. The movable clamp block and the fixed clamp block cooperate to limit the traction rod, so as to solve the problem that the traction mechanism in the prior art does not have a device to constrain its up and down movement. Therefore, when the transportation route is uneven, the lifting pin is prone to displacement in the vertical direction and fall out of the traction device. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is the main view of the utility model;

[0014] Figure 2 This is a schematic diagram of the traction frame structure of the utility model;

[0015] Figure 3 This is a bottom view of the mobile vehicle of the present utility model;

[0016] Figure 4 For this utility model Figure 3 A local enlarged view of point A;

[0017] Figure 5 This is a schematic diagram of the towing hook structure of the utility model;

[0018] Figure 6 This is a schematic structural diagram of the limiting mechanism of the present utility model.

[0019] Among them: 1. Mobile car; 2. Roller; 3. Drive box; 4. Traction frame; 5. Support plate; 6. Cylinder; 7. Traction rod; 8. Fixed clamp; 9. Movable clamp; 10. Wedge block; 11. Fastening bolt; 12. Connecting rod; 13. Rotating frame; 14. Gear No. 1; 15. Gear No. 2; 16. Self-locking motor; 17. Articulated frame; 18. Rotating rod; 19. Connecting hook; 20. Locking bolt; 21. Slide plate; 22. Sliding block; 23. Limit plate; 24. Limit bolt; 25. AGV body. DETAILED DESCRIPTION

[0020] In order to deepen the understanding of the present invention, the present invention will be further described in detail below in conjunction with embodiments. The embodiments are only used to explain the present invention and do not constitute a limitation on the scope of protection of the present invention.

[0021] according to Figure 1-6As shown, this embodiment proposes an AGV traction mechanism, including a mobile vehicle 1, rollers 2 and a drive box 3. Two groups of rollers 2 are symmetrically provided at the bottom of the mobile vehicle 1. The drive box 3 is fixedly installed at the bottom of the mobile vehicle 1. The drive box 3 is linked with one group of rollers 2. An AGV body 25 is also fixedly installed at the bottom of the mobile vehicle 1. The AGV body 25 is linked with the other group of rollers 2 through a steering mechanism. A traction frame 4 is provided on the mobile vehicle 1. A cylinder 6 is symmetrically fixedly installed at the bottom end of the mobile vehicle 1. A traction rod 7 is fixedly connected to the output end of the cylinder 6. A limiting mechanism is provided between the traction rod 7 and the traction frame 4 to hold the traction frame 4 moves to the top of the mobile vehicle 1, and the cylinder 6 drives the traction rod 7 to move upward, so that the traction rod 7 passes through the interior of the limiting mechanism. After the limiting mechanism and the traction rod 7 are combined, a driving motor is provided inside the driving box 3, and the output end of the driving motor is fixedly connected to a group of rollers 2. The driving box 3 drives a group of rollers 2 to move horizontally, so that the entire mobile vehicle 1 and the traction frame 4 move horizontally, and the goods on the traction frame 4 are automatically transported. The forward and reverse rotation of the driving motor controls the forward and backward movement of the mobile vehicle 1. The AGV body 25 can drive another group of rollers 2 to rotate through the steering mechanism to control the automatic reversal of the mobile vehicle 1, so that the mobile vehicle 1 moves according to the preset route.

[0022] The limiting mechanism includes a fixed clamping block 8, a movable clamping block 9, a wedge block 10 and a fastening bolt 11. The top of the traction frame 4 is symmetrically fixedly connected with the fixed clamping block 8, and the top of the traction frame 4 is also symmetrically slidably connected with the movable clamping block 9. The top of the traction frame 4 is fixedly connected with the fastening bolt 11.

[0023] The top end of the fastening bolt 11 passes through the top of the wedge block 10 and is threadedly connected with a nut. The top end of the traction rod 7 passes through the top of the traction frame 4. The interior of the fixed clamping block 8 and the movable clamping block 9 are both provided with arc grooves that match the traction rod 7. The two sides of the wedge block 10 are respectively fitted with one side of the two movable clamping blocks 9. When the cylinder 6 drives the traction rod 7 to move upward and pass through between the fixed clamping block 8 and the movable clamping block 9, the nut at the top end of the fastening bolt 11 is screwed downward, and the nut can squeeze the wedge block 10 moves downward, and the inclined surfaces on both sides of the wedge-shaped block 10 are used to squeeze the movable clamping block 9 to move toward the traction rod 7 until the movable clamping block 9 is in contact with one side of the outer wall of the traction rod 7, and the fixed clamping block 8 is in contact with the other side of the outer wall of the traction rod 7. The movable clamping block 9 cooperates with the fixed clamping block 8 to limit the traction rod 7. When traction is not needed, the nut on the fastening bolt 11 is turned upward, so that the movable clamping block 9 has space away from the traction rod 7. At this time, the traction rod 7 can be withdrawn from between the fixed clamping block 8 and the movable clamping block 9.

[0024] A group of connecting rods 12 are symmetrically fixedly connected to the top of the traction frame 4, and the top of the connecting rods 12 is fixedly connected to a block. The top of the connecting rods 12 is inserted with a supporting plate 5, and the bottom of the supporting plate 5 is fitly connected to the top of the block. The top of the connecting rods 12 is threaded with a nut, and the supporting plate 5 is erected on the top of the traction frame 4, so that the tops of the two groups of connecting rods 12 respectively pass through the four corners of the supporting plate 5, and the supporting plate 5 is supported by the block, and then the nut is tightened on the top of the connecting rod 12, and the four corners of the supporting plate 5 are clamped by the nut to fix the supporting plate 5 on the top of the traction frame 4, so as to support the goods through the supporting plate 5.

[0025] The steering mechanism includes a rotating frame 13, a number one gear 14, a number two gear 15 and a self-locking motor 16. The top of the roller 2 is fixedly connected to the rotating frame 13, and the bottom of the mobile vehicle 1 is symmetrically fixedly connected to a group of number one gears 14. The top of the rotating frame 13 is rotatably connected to the bottom end of the number one gear 14. The top of one side of the rotating frame 13 is rotatably connected to the number two gear 15. The number two gear 15 is engaged with the outer wall of the number one gear 14. The bottom end of one side of the rotating frame 13 is fixedly installed with a self-locking motor 16. The output end of the self-locking motor 16 is fixedly connected to the bottom of the number two gear 15. The AGV body 25 adopts laser navigation, and the laser radar emits Laser beams, these laser beams are irradiated on the surface of objects in the surrounding environment, and part of the beams are reflected back. The laser radar receives the reflected beams and calculates the distance between the AGV body 25 and the surrounding objects by measuring the time difference from laser emission to reception. The AGV body 25 converts the path planning results into motion instructions, and transmits the motion instructions to the self-locking motor 16 through the control system. The output end of the self-locking motor 16 drives the second gear 15 to rotate, and the second gear 15 is engaged with the first gear 14, and the second gear 15 is connected to the roller 2 through the rotating frame 13. It can drive the roller 2 to rotate with the first gear 14 as the center of the circle, so as to automatically reverse when the mobile vehicle 1 moves.

[0026] The outer side of the traction frame 4 is hinged with a rotating rod 18 through an articulated frame 17, and one end of the rotating rod 18 is rotatably connected to a connecting hook 19. One side of the connecting hook 19 is threadedly connected to a locking bolt 20. The locking bolt 20 on one connecting hook 19 is unscrewed, and another connecting hook 19 that is perpendicular to its position is sleeved on the inside of this connecting hook 19, and then the locking bolt 20 is screwed back into the inside of the connecting hook 19 to connect the two rotating rods 18 into one, so that the two traction frames 4 can be connected front and back, so that the mobile vehicle 1 can tow more cargo, and the connection between the two connecting hooks 19 can be released by unscrewing the locking bolt 20.

[0027] The two sides of the traction frame 4 are symmetrically fixedly connected with the slide rail plates 21, and the internal sliding connection of the slide rail plates 21 is limited bolts 24, and the bottom end of the limit bolts 24 is fixedly connected with a top block, and the top end of the limit bolts 24 is penetrated by a sliding block 22 and is also threadedly connected with a nut, and the top end of the sliding block 22 is fixedly connected to the limit plate 23. When the nut at the top end of the limit bolt 24 is loosened, the nut and the top block no longer clamp the sliding block 22 and the slide rail plate 21, and the sliding block 22 can move horizontally back and forth along the slide rail plate 21 to drive the two limit plates 23 to fit together with the two sides of the cargo. Then, the nut at the top end of the limit bolt 24 is tightened, and the nut and the top block cooperate to clamp the slide rail plate 21 and the sliding block 22 again to lock the position of the limit plate 23.

[0028] The AGV traction mechanism drives the traction rod 7 to move upward by the cylinder 6 and passes through between the fixed clamp block 8 and the movable clamp block 9. The nut on the top of the fastening bolt 11 is screwed to move downward. The nut can squeeze the wedge block 10 to move downward, and the inclined surfaces on both sides of the wedge block 10 are used to squeeze the movable clamp block 9 to move toward the traction rod 7 until the movable clamp block 9 is in contact with one side of the outer wall of the traction rod 7, and the fixed clamp block 8 is in contact with the other side of the outer wall of the traction rod 7. The movable clamp block 9 cooperates with the fixed clamp block 8 to limit the traction rod 7. When traction is not needed, the nut on the fastening bolt 11 is screwed to move upward, so that the movable clamp block 9 has space away from the traction rod 7. At this time, the traction rod 7 can be withdrawn from between the fixed clamp block 8 and the movable clamp block 9.

[0029] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements are intended to fall within the scope of the present invention. The scope of protection claimed in this invention is defined by the appended claims and their equivalents.

Claims

1. An AGV traction mechanism, comprising a mobile vehicle (1), a roller (2) and a drive box (3), characterized in that: Two groups of rollers (2) are symmetrically provided at the bottom of the mobile vehicle (1), a driving box (3) is fixedly installed at the bottom of the mobile vehicle (1), and the driving box (3) is linked to one group of rollers (2). An AGV body (25) is also fixedly installed at the bottom of the mobile vehicle (1), and the AGV body (25) is linked to the other group of rollers (2) through a steering mechanism. A traction frame (4) is provided on the top of the mobile vehicle (1), and a cylinder (6) is symmetrically fixedly installed at the bottom end of the mobile vehicle (1), and the output end of the cylinder (6) is fixedly connected to a traction rod (7), and a limiting mechanism is provided between the traction rod (7) and the traction frame (4); The limiting mechanism comprises a fixed clamping block (8), a movable clamping block (9), a wedge-shaped block (10) and a fastening bolt (11); the top of the traction frame (4) is symmetrically fixedly connected to the fixed clamping block (8); the top of the traction frame (4) is also symmetrically slidably connected to the movable clamping block (9); and the top of the traction frame (4) is fixedly connected to the fastening bolt (11).

2. The AGV traction mechanism according to claim 1, characterized in that: The top end of the fastening bolt (11) passes through the top of the wedge block (10) and is threadedly connected to a nut. The top end of the traction rod (7) passes through the top of the traction frame (4). The interiors of the fixed clamping block (8) and the movable clamping block (9) are both provided with arc grooves matching the traction rod (7). The two sides of the wedge block (10) are respectively fitted and connected to one side of the two movable clamping blocks (9).

3. The AGV traction mechanism according to claim 1, characterized in that: A group of connecting rods (12) are symmetrically fixedly connected to the top of the traction frame (4), a stopper is fixedly connected to the top of the connecting rod (12), a supporting plate (5) is inserted into the top of the connecting rod (12), the bottom of the supporting plate (5) is fitted and connected to the top of the stopper, and a nut is threadedly connected to the top of the connecting rod (12).

4. The AGV traction mechanism according to claim 1, characterized in that: The steering mechanism comprises a rotating frame (13), a first gear (14), a second gear (15) and a self-locking motor (16); the top of the roller (2) is fixedly connected to the rotating frame (13); the bottom of the mobile vehicle (1) is symmetrically fixedly connected to a group of first gears (14); the top of the rotating frame (13) is rotatably connected to the bottom of the first gear (14); the top of one side of the rotating frame (13) is rotatably connected to the second gear (15); the second gear (15) and the outer wall of the first gear (14) are meshed with each other; the bottom end of one side of the rotating frame (13) is fixedly installed with a self-locking motor (16); the output end of the self-locking motor (16) is fixedly connected to the bottom of the second gear (15).

5. The AGV traction mechanism according to claim 1, characterized in that: The outer side of the traction frame (4) is hinged with a rotating rod (18) via an articulated frame (17); one end of the rotating rod (18) is rotatably connected to a connecting hook (19); one side of the connecting hook (19) is threadedly connected to a locking bolt (20).

6. The AGV traction mechanism according to claim 1, characterized in that: The two sides of the traction frame (4) are symmetrically fixedly connected with slide rail plates (21), the interior of the slide rail plate (21) is slidably connected with a limit bolt (24), the bottom end of the limit bolt (24) is fixedly connected with a top block, the top end of the limit bolt (24) is penetrated by a sliding block (22) and is also threadedly connected with a nut, and the top end of the sliding block (22) is fixedly connected to the limit plate (23).

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