Vehicle off-line transfer system

Abstract

The utility model relates to the technical field of vehicle production auxiliary equipment, and provides a vehicle off-line transfer system which comprises a production line conveying device used for conveying off-line vehicles; the transfer AGV comprises a transfer vehicle body, a transmission assembly and a switching assembly. The conveying assembly is arranged at the top of the transfer vehicle body in the length direction, the switching assembly is arranged at at least one end of the transfer vehicle body in the length direction, and the switching assembly is used for being in butt joint with a production line conveying device so that an off-line vehicle can be integrally borne at the top of the transfer vehicle body under the action of the production line conveying device, the switching assembly and the conveying assembly; and the control system is in communication connection with the production line conveying device and the transfer AGV and is used for controlling the production line conveying device and the transfer AGV to operate. According to the technical scheme, automatic control operation can be achieved, the precision and accuracy of butt joint operation can be effectively improved, the phenomenon that the off-line vehicle is collided and damaged in the transfer process is prevented, and the working efficiency of the off-line link of the vehicle can be greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle production auxiliary equipment, in particular to a vehicle off-line transfer system. BACKGROUND

[0002] At present, in the field of automobile production and manufacturing, the new vehicle completed assembly usually needs to be carried during the off-line process. The traditional carrying method is mainly manual operation, but it has the problems of high labor intensity, low carrying efficiency and poor safety. In recent years, some manufacturers have adopted mechanical carrying operation mode, but the conventional carrying machinery is difficult to effectively dock with the vehicle production line, and the docking positioning is not accurate during the operation process, which is easy to cause collision damage to the vehicle and affect the working efficiency of the vehicle off-line. CONTENT OF THE UTILITY MODEL

[0003] In order to solve the problems of inaccurate docking positioning, easy to cause collision damage to the vehicle and low working efficiency of the vehicle off-line carrying method in the prior art, the present application provides a vehicle off-line transfer system.

[0004] In an embodiment of the present application, a vehicle off-line transfer system is provided, which comprises: a production line conveying device, the production line conveying device being used for conveying off-line vehicles; a transfer AGV, the transfer AGV comprising a transfer vehicle body, a transmission assembly and a switching assembly; the transmission assembly is arranged on the top of the transfer vehicle body in the length direction, and the switching assembly is arranged at least one end of the transfer vehicle body in the length direction; the switching assembly is used for docking with the conveying end of the production line conveying device, so as to switch the tires of the off-line vehicle at the conveying end to the transmission assembly, so that the off-line vehicle is integrally carried on the top of the transfer vehicle body under the action of the production line conveying device and the transmission assembly; and a control system, the control system being in communication connection with the production line conveying device and the transfer AGV, and the control system being used for controlling the production line conveying device and the transfer AGV to run, so as to perform switching and transportation operations on the off-line vehicle.

[0005] In a further embodiment of the present application, the control system comprises: a vehicle-mounted controller, the vehicle-mounted controller being arranged on the transfer AGV, the vehicle-mounted controller being in communication connection with the transfer vehicle body, the transmission assembly and the switching assembly, and being used for controlling the transfer vehicle body, the transmission assembly and the switching assembly to run and collecting corresponding running data information; a main controller, the main controller being in communication connection with the production line conveying device and the vehicle-mounted controller, so as to receive the running data information of the production line conveying device and the vehicle-mounted controller, and output corresponding control instructions to the production line conveying device and the vehicle-mounted controller according to the running data information; wherein the main controller has an input module, an operation module and a display module, the input module is used for inputting operation instructions, the operation module is used for data operation and processing, and the display module is used for displaying the running data information of the production line conveying device and the transfer AGV.

[0006] In a further embodiment of the present application, the adapter assembly comprises: a telescopic mechanism arranged at one end of the transfer trolley body in the length direction, the telescopic mechanism having a telescopic portion capable of extending outward and retracting inward relative to the transfer trolley body in the length direction, and the width of the telescopic portion being less than the lateral spacing of the wheels of the outgoing vehicle, so that the telescopic portion can be inserted between the two tires of the outgoing vehicle below the chassis; two swing arm mechanisms arranged on both sides of the telescopic portion in the width direction and both rotatably connected with the telescopic portion, both of the swing arm mechanisms being capable of horizontal swinging relative to the telescopic portion to switch between the longitudinal state and the transverse state; wherein, in the longitudinal state, the two swing arm mechanisms are used to extend with the telescopic portion below the chassis of the outgoing vehicle; in the transverse state, the two swing arm mechanisms are used to retract with the telescopic portion and push the two tires of the outgoing vehicle into the transmission assembly.

[0007] In a further embodiment of the present application, the swing arm mechanism comprises: a swing arm, one end of the swing arm being rotatably connected with the telescopic portion; an axis of rotation, the axis of rotation being arranged in parallel with the swing arm on the side corresponding to the transmission assembly and being rotatably connected with the swing arm, the axis of rotation being used to contact and form a rolling fit with the tire of the outgoing vehicle; and a swing driving mechanism, the swing driving mechanism being connected with the telescopic portion and being in transmission connection with the swing arm, the swing driving mechanism being used to drive the swing arm and the axis of rotation to horizontally swing relative to the telescopic portion.

[0008] In a further embodiment of the present application, the top surface height of the swing arm is greater than the top surface height of the axis of rotation; and / or, the top of the swing arm has a stop block structure, the side of the stop block structure facing the axis of rotation having a concave structure matching the shape of the tire.

[0009] In a further embodiment of the present application, the adapter assembly further comprises a lifting driving mechanism, the lifting driving mechanism being arranged on the telescopic portion and being in transmission connection with the swing arm mechanism, and being used to drive the swing arm mechanism to move up and down in the height direction; or, in the length direction, the telescopic portion is gradually inclined upward from inside to outside, and the swing arm mechanism is connected to the position close to the outer end of the telescopic portion.

[0010] In a further embodiment of the present application, the two sides of the telescopic portion in the width direction are respectively provided with tire detection sensors, the tire detection sensors being in communication connection with the vehicle-mounted controller, and the tire detection sensors being used to detect the tire position information of the outgoing vehicle and transmit the tire position information to the vehicle-mounted controller.

[0011] In a further embodiment of the present application, the transfer AGV further comprises a laser navigator arranged at the middle or side of the transfer vehicle body and in communication connection with the vehicle-mounted controller, the laser navigator being configured to detect position information of the transfer vehicle body and transmit the position information to the vehicle-mounted controller; and / or, the bottom of the transfer vehicle body is provided with at least one universal driving wheel mechanism and a plurality of universal driven wheels, the universal driving wheel mechanism being in communication connection with the vehicle-mounted controller and configured to drive the transfer vehicle body to travel in a straight line, turn and rotate horizontally in any horizontal direction.

[0012] In a further embodiment of the present application, the transmission assembly comprises: two groups of linear transmission mechanisms arranged at intervals in the width direction, each group of linear transmission mechanisms extending in the length direction, and the interval of the two groups of linear transmission mechanisms in the width direction being adapted to the lateral spacing of the wheels of the off-line vehicle; and a transmission driving mechanism arranged between the two groups of linear transmission mechanisms and located at a position close to the middle of the transfer vehicle body in the length direction, the transmission driving mechanism being in transmission connection with the two groups of linear transmission mechanisms to drive the two groups of linear transmission mechanisms to move synchronously.

[0013] In a further embodiment of the present application, each group of linear transmission mechanisms comprises a plurality of linear transmission units arranged in sequence in the length direction, and at least one linear transmission unit is in transmission connection with the transmission driving mechanism; wherein the linear transmission unit is a conveying chain mechanism or a conveying belt mechanism.

[0014] The beneficial effects of the above technical solutions of the present application are:

[0015] The vehicle off-line transfer system in the present application is connected with the production line conveying device through the transfer AGV with the switching assembly and the transmission assembly, so that the off-line vehicle can be switched from the production line conveying device to the transfer AGV and transported accordingly, and the overall operation process is realized automatically under the control of the control system, which can effectively improve the precision and accuracy of the connection operation, thereby preventing the off-line vehicle from being damaged by collision during switching and transportation, and the degree of automation is high, which can greatly improve the work efficiency of the vehicle off-line link, and is suitable for popularization and application in the vehicle production off-line scene. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 FIG. 1 is a schematic view of a vehicle off-line transfer system in an embodiment of the present application;

[0017] Figure 2 FIG. 2 is a schematic view of a transfer AGV in an embodiment of the present application;

[0018] Figure 3 FIG. 3 is an example block diagram of a control system in an embodiment of the present application;

[0019] Figure 4A top view of the transfer AGV in one embodiment of the present application;

[0020] Figure 5 A top view of the partial structure of the transfer AGV in one embodiment of the present application (the swing arm mechanism is in the horizontal state) ;

[0021] Figure 6 A top view of the partial structure of the transfer AGV in one embodiment of the present application (the swing arm mechanism is in the vertical state) ;

[0022] Figure 7 A partial schematic view of the vehicle offline transfer system in one embodiment of the present application (the front wheel of the offline vehicle is in contact with the swing arm mechanism) ;

[0023] Figure 8 A partial schematic view of the vehicle offline transfer system in one embodiment of the present application (the front wheel of the offline vehicle is in contact with the swing arm mechanism) ;

[0024] Figure 9 A partial schematic view of the vehicle offline transfer system in one embodiment of the present application (the rear wheel of the offline vehicle is in contact with the swing arm mechanism) ;

[0025] Figure 10 A partial schematic view of the vehicle offline transfer system in one embodiment of the present application (the rear wheel of the offline vehicle is in contact with the swing arm mechanism) ;

[0026] Figure 11 A schematic view of the transfer AGV in a second direction view in one embodiment of the present application;

[0027] Figure 12 A schematic view of the transfer AGV in a first direction view in one embodiment of the present application;

[0028] Figure 13 A partial schematic view of the transfer AGV in one embodiment of the present application;

[0029] Figure 14 A partial schematic view of the transfer AGV in another embodiment of the present application;

[0030] Figure 15 A partial schematic view of the transfer AGV in another embodiment of the present application;

[0031] Figure 16 A partial schematic view of the transfer AGV in another embodiment of the present application;

[0032] Figure 17 A top view of the transfer AGV in one embodiment of the present application (part of the shell of the transfer vehicle body is not shown) ;

[0033] Figure 18 Figure 8 is a bottom view of the transfer AGV (part of the shell of the transfer trolley body is not shown) in an embodiment of the present application.

[0034] In the above figures, arrow F1 represents the first direction, and arrow F2 represents the second direction; Figure 1 and Figure 3 The dashed line in the above figures represents a communication connection.

[0035] Explanation of reference signs:

[0036] 100 vehicle offline transfer system;

[0037] 1 production line conveying device, 11 conveying end;

[0038] 2 transfer AGV, 21 transfer trolley body, 211 universal drive wheel mechanism, 212 universal driven wheel, 22 transmission assembly, 221 linear transmission mechanism, 2211 linear transmission unit, 222 transmission drive mechanism, 23 switching assembly, 231 telescopic mechanism, 2311 telescopic part, 2312 telescopic slide rail, 2313 telescopic drive mechanism, 2314 guide wheel, 232 swing arm mechanism, 2321 swing arm, 2322 pivot shaft, 2323 swing drive mechanism, 2325 stop block structure, 233 lifting drive mechanism, 24 tire detection sensor, 25 laser navigator;

[0039] 3 control system, 31 on-board controller, 32 main controller, 321 input module, 322 operation module, 323 display module; 500 offline vehicle. DETAILED DESCRIPTION

[0040] The present application will be further described in detail below with specific embodiments in conjunction with the accompanying drawings. In different embodiments, similar elements are associated with similar element reference numbers. In the following embodiments, many details are described in order to make the present application better understood. However, those skilled in the art can easily recognize that some features can be omitted in different cases, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present application are not shown or described in the specification, in order to avoid the core part of the present application being overwhelmed by too much description, and it is not necessary to describe these related operations in detail for those skilled in the art, according to the description in the specification and the general technical knowledge in the art, the related operations can be fully understood.

[0041] In addition, the features described in the specification, operations or characteristics can be combined in any appropriate manner to form various embodiments, and the steps involved in each embodiment can be sequentially exchanged or adjusted in a manner apparent to those skilled in the art. Therefore, the specification and drawings are only for the purpose of clearly describing one embodiment, and do not mean that the components and / or order are necessary.

[0042] The serial numbers of the components in the present application, such as "first", "second", etc., are only used to distinguish the described objects, and do not have any order or technical meaning. The "connection" and "coupling" in the present application include direct and indirect connection (coupling) unless otherwise specified.

[0043] The vehicle off-line transfer system provided by the present application can realize the transfer operation of the off-line vehicle between the production line conveying device and the target position through the cooperation of the transfer AGV and the production line conveying device according to the control instruction of the control system. The transfer AGV can transfer the tires of the off-line vehicle from the conveying end of the production line conveying device to the transmission assembly of the AGV through the transfer assembly of the AGV, and through the joint action of the production line conveying device and the transmission assembly, the off-line vehicle is carried on the top of the transfer vehicle body as a whole, and then the off-line vehicle is transferred to the target position through the driving of the transfer vehicle body. During the transfer operation, the transfer AGV and the production line conveying device can be accurately positioned and docked, preventing the off-line vehicle from being damaged by collision, and improving the work efficiency of the vehicle off-line link.

[0044] In the present application, the AGV described in the present application is an automated guided vehicle (Automated Guided Vehicle), and the vehicle described in the present application is a car, including but not limited to a fuel car, a new energy car and a hybrid car.

[0045] Some embodiments of the vehicle off-line transfer system provided by the present application are described below in conjunction with the drawings.

[0046] In an embodiment of the present application, as shown in Figure 1 , Figure 2As shown, the vehicle offline transfer system 100 includes a production line conveying device 1, a transfer AGV 2, and a control system 3. The production line conveying device 1 is used to convey the vehicle completed in the production line, that is, to convey the offline vehicle 500. The transfer AGV 2 serves as a transfer tool for the offline vehicle 500, and can transfer the offline vehicle 500 on the production line conveying device 1 to the transfer AGV 2, and carry the offline vehicle 500 to the target position and then unload the offline vehicle 500; the transfer AGV 2 includes a transfer vehicle body 21, a transmission assembly 22, and a transfer assembly 23; the length direction and the width direction of the transfer vehicle body 21 correspond to the longitudinal direction and the transverse direction respectively, the transmission assembly 22 is arranged on the top of the transfer vehicle body 21 and extends along the length direction, so that the transfer vehicle body 21 can keep consistent with the conveying direction when it is docked with the production line conveying device 1; the transfer assembly 23 is arranged at least at one end of the transfer vehicle body 21 in the length direction, so as to be docked with the conveying end 11 of the production line conveying device 1 and transfer the tire of the offline vehicle 500 on the conveying end 11 to the transmission assembly 22, so that the offline vehicle 500 can continue to move in the length direction under the transmission of the production line conveying device 1 and the transmission assembly 22, and then be carried on the top of the transfer vehicle body 21, so as to be carried by the transfer vehicle body 21 to the target position. The controller is in communication connection with the production line conveying device 1 and the transfer AGV 2 respectively, so as to transmit signals between each other, and control the production line conveying device 1 and the transfer AGV 2 to run correspondingly, so as to realize the transfer and transportation of the offline vehicle 500.

[0047] It can be understood that in the current vehicle offline operation link, since the height of the production line conveying device is usually close to the ground height, and the height of the handling tool (such as a forklift, a carrying trolley, etc.) is generally higher than that of the production line conveying device, and the offline vehicle needs to be in a relatively static state (i.e., the state that the wheels cannot rotate), when the offline vehicle is transferred by the mechanical handling, the accuracy and precision of positioning and docking are required to be higher during the process from the production line to the handling tool, otherwise the offline vehicle is easy to move relatively during the handling process, and collision damage is easy to occur.

[0048] The vehicle offline transfer system 100 in the embodiment can realize automatic operation under the control of the control system 3, can effectively improve the accuracy and precision of the docking operation, so as to prevent the offline vehicle 500 from being damaged by collision during the transfer and transportation process, and has high automation degree, can greatly improve the work efficiency of the vehicle offline link, and is suitable for popularization and application in the vehicle production offline scene.

[0049] It should be noted that in the embodiment, the adapter assembly 23 can be arranged at one end of the transfer trolley body 21 in the length direction, or the adapter assembly 23 can be arranged at both ends of the transfer trolley body 21 in the length direction, so that any end of the transfer trolley body 21 in the length direction can be docked with the production line conveying device 1, and the transmission direction of the transmission assembly 22 can be adjusted according to the direction of the transfer trolley body 21.

[0050] In further embodiments of the application, as shown in Figure 1 and Figure 3 The control system 3 includes a vehicle-mounted controller 31 and a main controller 32. The vehicle-mounted controller 31 is arranged on the transfer AGV 2, and the main controller 32 can be arranged corresponding to the production line conveying device 1, or can be arranged in the electric control box or console of the production line. The vehicle-mounted controller 31 is in communication connection with the transfer trolley body 21, the transmission assembly 22 and the adapter assembly 23 of the transfer AGV 2, can collect the running data information of the transfer trolley body 21, the transmission assembly 22 and the adapter assembly 23, and perform corresponding control operation on the transfer trolley body 21, the transmission assembly 22 and the adapter assembly 23 according to the control instruction. The main controller 32 is in communication connection with the production line conveying device 1 and the vehicle-mounted controller 31 respectively, and can receive the motion data information of the production line conveying device 1 and the vehicle-mounted controller 31, so as to perform corresponding operation processing according to the running data information and send corresponding control instruction to the production line conveying device 1 and the vehicle-mounted controller 31, to perform corresponding control operation on the production line conveying device 1 and the transfer AGV 2, to realize the adapter and transportation operation of the off-line vehicle 500.

[0051] Specifically, as an example in Figure 3 The main controller 32 has an input module 321, an operation module 322 and a display module 323; the input module 321 can specifically adopt the form of operation button, touch panel, etc., so as to input corresponding operation instruction; the operation module 322 can perform corresponding operation processing on the received running data information, and generate corresponding control instruction according to the obtained operation result; the display module 323 can specifically adopt the form of display, display instrument, handheld terminal, etc., to display corresponding running data. Of course, the main controller 32 has corresponding signal transceiving function, to perform receiving and sending operation of data information and control instruction. In actual application, the main controller 32 can be integrated in the central control device of the production line equipment.

[0052] In further embodiments of the application, as shown in Figure 2 and Figure 4As shown, in the transfer AGV 2, the transfer assembly 23 includes a telescopic mechanism 231 and two swing arm mechanisms 232. The telescopic mechanism 231 is arranged at one end of the transfer vehicle body 21 along the length direction, and has a telescopic part 2311 capable of extending outward and retracting inward along the length direction, the width dimension of the telescopic part 2311 is smaller than the wheel transverse spacing of the outgoing vehicle 500, so that when docking with the production line conveying device 1, the telescopic part 2311 can be inserted into the chassis of the outgoing vehicle 500 below the two tires of the outgoing vehicle 500. The two swing arm mechanisms 232 are respectively arranged on both sides of the telescopic part 2311 in the width direction and are rotationally connected with the telescopic part 2311, and the two swing arm mechanisms 232 can swing horizontally relative to the telescopic part 2311; wherein, as an example in Figure 5 , the transverse state is a state in which the extension direction of the swing arm mechanism 232 is parallel to the width direction of the transfer vehicle body 21; as an example in Figure 6 , the longitudinal state is a state in which the extension direction of the swing arm mechanism 232 is parallel to the length direction of the transfer vehicle body 21. The swing arm mechanism 232 can be switched between the longitudinal state and the transverse state by horizontal swinging; the swing arm mechanism 232 in the longitudinal state is suitable for avoiding the tires when the telescopic part 2311 is inserted into the chassis of the outgoing vehicle 500 below, and the swing arm mechanism 232 in the transverse state is suitable for pushing the tires of the outgoing vehicle 500 into the transfer assembly 22 of the transfer AGV 2 when the telescopic part 2311 is retracted.

[0053] When performing the docking operation, as an example in Figure 1 , the transfer vehicle body 21 first drives to the conveying end 11 of the production line conveying device 1, and the length direction of the transfer vehicle body 21 is consistent with the conveying direction of the production line conveying device 1; when the front wheels of the outgoing vehicle 500 are conveyed to the conveying end 11, the two swing arm mechanisms 232 are first switched to the longitudinal state, and are extended along the length direction under the driving of the telescopic part 2311, and are inserted into the chassis of the outgoing vehicle 500 below; when the swing arm mechanism 232 is located behind the front wheels of the outgoing vehicle 500, as an example in Figure 7 , the two swing arm mechanisms 232 are switched to the transverse state, and are retracted inward under the driving of the telescopic part 2311, so as to contact and push the front wheels across the top of the transfer assembly 22 by the two swing arm mechanisms 232 respectively, as shown in the state in Figure 8 ; then, the front wheels of the outgoing vehicle 500 are subjected to the conveying power of the transfer assembly 22, and the rear wheels are subjected to the conveying power of the production line conveying device 1, so that the outgoing vehicle 500 continues to move forward. When the rear wheels of the outgoing vehicle 500 are conveyed to the conveying end 11, the above steps can be repeated to push the outgoing vehicle 500 from behind the rear wheels of the outgoing vehicle 500 by the telescopic mechanism 231 and the swing arm mechanism 232, as an example in Figure 9The state shown in the diagram allows the rear wheels of the off-line vehicle 500 to straddle the transmission component 22 of the transfer AGV 2, so that the entire off-line vehicle 500 is supported on the transmission component 22, as shown in the diagram. Figure 10 As shown in the diagram, the transfer operation of vehicle 500 from the production line conveyor 1 to the transfer AGV 2 is completed. Then, the transfer AGV 2 transports vehicle 500 to its target location.

[0054] Furthermore, such as Figure 11 and Figure 12 As shown, the swing arm mechanism 232 specifically includes a swing arm 2321, a rotating shaft 2322, and a swing drive mechanism 2323. One end of the swing arm 2321 is rotatably connected to the telescopic part 2311 of the telescopic mechanism 231; the swing drive mechanism 2323 is fixedly connected to the telescopic part 2311, and the swing drive mechanism 2323 is also drively connected to the swing arm 2321 to drive the swing arm 2321 to swing horizontally relative to the telescopic part 2311; the rotating shaft 2322 is rotatably disposed on the side of the swing arm 2321 corresponding to the transmission component 22, and is disposed parallel to the swing arm 2321, so that the rotating shaft 2322 can swing horizontally together with the swing arm 2321, and the rotating shaft 2322 can rotate relative to the swing arm 2321. When the swing arm mechanism 232 is located behind the tire of the off-line vehicle 500, the swing arm mechanism 232 switches to a transverse position and retracts with the telescopic part 2311, so that the rotating shaft 2322 contacts the tire. Under the contraction force of the telescopic part 2311, the rotating shaft 2322 pushes the tire from behind. At the same time, through the rolling cooperation between the rotating shaft 2322 and the tire, the tire is raised to a certain height, so that it steps onto the transmission component 22 of the transfer AGV 2, realizing the transfer operation of the off-line vehicle 500.

[0055] Furthermore, in a specific example, such as Figures 11 to 13 As shown, in a specific example, the telescopic part 2311 is gradually inclined upwards from the inside to the outside in the length direction, that is, the telescopic part 2311 is in an upward-curving state relative to the horizontal plane. Correspondingly, the swing arm mechanism 232 is also slightly inclined relative to the horizontal plane, such as... Figure 13 In the example shown, the telescopic part 2311 forms an angle α with the horizontal plane. When the swing arm mechanism 232 contacts the rear side of the tire, the upwardly curved telescopic part 2311 and the tilted swing arm mechanism 232 increase the upward thrust on the tire, thereby promoting the tire to lift and step onto the transmission assembly 22. The angle α can be specifically set according to actual usage requirements.

[0056] Furthermore, in a specific example, such as Figure 11 and Figure 14As shown, the switching assembly 23 further comprises a lifting driving mechanism 233. The lifting driving mechanism 233 is arranged on the telescopic part 2311, and the lifting driving mechanism 233 is in transmission connection with the swing arm mechanism 232 and can drive the swing arm mechanism 232 to move up and down relative to the telescopic part 2311 along the height direction. When the swing arm mechanism 232 is located behind the tire and in contact with the tire, the swing arm mechanism 232 can be driven to rise by the lifting driving mechanism 233 to exert an upward force on the tire, so that the tire is lifted to a certain height and straddles onto the conveying assembly 22. The lifting driving mechanism 233 can specifically be an oil cylinder, an air cylinder, an electric cylinder or the like. Through the above structure, the swing arm mechanism 232 can not only move along the length direction with the telescopic part 2311, but also move up and down relative to the telescopic part 2311, so that the operation is more flexible, and the tire of the off-line vehicle 500 can straddle onto the conveying assembly 22 more smoothly.

[0057] Further, in a specific example, as shown in the examples of Figure 11 and Figure 15 , in the swing arm mechanism 232, the top surface height of the swing arm 2321 is greater than the top surface height of the rotating shaft 2322, that is, in the height direction, the top surface of the swing arm 2321 is higher than the top surface of the rotating shaft 2322. When the swing arm mechanism 232 is located behind the tire and switched to the transverse state, in the direction towards the tire, the rotating shaft 2322 and the swing arm 2321 are arranged in a stepped manner, so that when the swing arm 2321 is retracted with the telescopic part 2311, the tire first contacts the rotating shaft 2322, and then contacts the swing arm 2321 after being lifted to a certain height by the rotating shaft 2322. Thus, the contact area with the tire is increased by the swing arm 2321 and the rotating shaft 2322, which can improve the stress condition of the tire and make the tire straddle onto the conveying assembly 22 more smoothly during the switching process.

[0058] It can be understood that the tire of the off-line vehicle 500 is relatively large in size, and the contact point of the rotating shaft 2322 with the tire is close to the lower part of the tire. If the stress is solely borne by the contact between the rotating shaft 2322 and the tire, there is a possibility that the tire slips and passes over the rotating shaft 2322, which causes the tire to fail to be normally lifted. In the present embodiment, the swing arm 2321 with a higher top surface height is arranged, so that the swing arm 2321 and the rotating shaft 2322 can simultaneously contact the tire, and the contact point of the swing arm 2321 with the tire is higher, which can effectively prevent the tire from slipping and increase the pushing force on the tire, so as to improve the reliability of the tire switching operation.

[0059] Further, in a specific example, as shown in the examples of Figure 11 and Figure 16In the example shown in FIG. 13, the top of the swing arm 2321 is provided with a corresponding stop block structure 2325, the stop block structure 2325 is higher than the rotating shaft 2322, and the side of the stop block structure 2325 facing the rotating shaft 2322 has a concave structure that is adapted to the shape of the tire. When the tire is lifted to a certain height under the action of the rotating shaft 2322, it further contacts the concave structure of the stop block structure 2325 to increase the contact area of the swing arm mechanism 232 with the tire. By the stop block structure 2325 and the rotating shaft 2322 simultaneously generating a pushing force on the tire, the tire slipping phenomenon can be effectively prevented, and the pushing force can be increased to improve the reliability of the tire transfer operation.

[0060] It should be noted that in actual application, the schemes in the above-mentioned specific examples of the swing arm mechanism 232 can be selected from one of them, or two or more of them can be combined according to actual use needs.

[0061] In actual application, as shown in the examples in FIGS. 14-16, Figure 13 , Figure 17 and Figure 18 , the telescopic mechanism 231 further includes a telescopic slide rail 2312 and a telescopic driving mechanism 2313. The telescopic slide rail 2312 is arranged along the length direction of the transfer trolley body 21 and is in sliding connection with the telescopic part 2311; the telescopic driving mechanism 2313 is arranged in the transfer trolley body 21 and is in transmission connection with the telescopic part 2311 to drive the telescopic part 2311 to slide relative to the telescopic slide rail 2312. The bottom of the telescopic part 2311 further has a plurality of guide wheels 2314 to support and guide the telescopic part 2311. In addition, the telescopic part 2311 can specifically adopt a hollow frame structure to facilitate assembly connection with other structures.

[0062] In further embodiments of the present application, as shown in Figure 3 and Figure 12 , the transfer AGV 2 further includes a tire detection sensor 24. The tire detection sensor 24 is used to detect the tire position information of the offline vehicle 500 and is in communication connection with the on-board controller 31 to transmit the detected tire position information to the on-board controller 31. Among them, the tire detection sensor 24 can be arranged on both sides of the telescopic part 2311 in the width direction to simultaneously detect the positions of the tires on both sides of the offline vehicle 500 to enhance the accuracy of the detection results. It should be noted that in actual application, the tire detection sensor 24 can be reasonably arranged in space according to the structure on the side of the telescopic part 2311 to be staggered with the swing arm mechanism 232 and other components to prevent blocking the tire detection sensor 24.

[0063] In further embodiments of the present application, as shown in Figure 3 , Figure 11 and Figure 12In the example shown in FIG. 2, the transfer AGV 2 further comprises a laser navigator 25. The laser navigator 25 is used to detect the position information of the transfer vehicle body 21, and to identify the distance between the characteristic points in the surrounding environment of the transfer vehicle body 21 and the laser sensor through the laser triangulation principle, and to calculate the specific position of the transfer vehicle body 21 in the running environment. The laser navigator 25 can be arranged at the middle or side of the transfer vehicle body 21, and is in communication connection with the on-board controller 31 for corresponding data transmission and communication, so as to perform corresponding path planning under the control of the on-board controller 31 and / or the main controller 32, and to travel along the preset path to realize the transportation operation of the offline vehicle 500.

[0064] In further embodiments of the present application, as shown in Figure 11 , and Figure 17 and Figure 18 The bottom of the transfer vehicle body 21 has at least one universal drive wheel mechanism 211 and a plurality of universal driven wheels 212. The universal drive wheel mechanism 211 is in communication connection with the on-board controller 31, and is operated under the control of the on-board controller 31 to drive the transfer vehicle body 21 to travel in any horizontal direction, including straight travel, turning travel, and horizontal rotation. The universal driven wheels 212 are used for supporting and driving. For example, the transfer vehicle body 21 can travel in the length direction under the driving of the universal drive wheel mechanism 211, and can also travel in the width direction, or can turn left or right during travel, and can also drive the transfer vehicle body 21 to rotate horizontally in place.

[0065] It should be noted that in actual application, one or more universal drive wheel mechanisms 211 can be arranged according to the use requirements, and the number of corresponding universal driven wheels 212 can also be arranged according to the use requirements.

[0066] In further embodiments of the present application, as shown in Figure 2 , Figure 17 and Figure 18As shown, in the transfer AGV 2, the transfer component 22 includes two sets of linear transfer mechanisms 221 and a transfer drive mechanism 222. The two sets of linear transfer mechanisms 221 are spaced apart in the width direction of the transfer vehicle body 21, and each set extends along the length direction of the transfer vehicle body 21 to adapt to the orientation of the off-line vehicle 500 when docking with the production line conveyor device 1. The spacing between the two sets of linear transfer mechanisms 221 in the width direction is adapted to the lateral wheel spacing of the off-line vehicle 500, so that both left and right tires of the off-line vehicle 500 can be accurately supported on the corresponding linear transfer mechanism 221. The transfer drive mechanism 222 is located between the two sets of linear transfer mechanisms 221 and is simultaneously connected to both sets of linear transfer mechanisms 221 to drive them to perform synchronous transfer movements. The transfer drive mechanism 222 is located near the middle in the length direction of the transfer vehicle body 21, so that the power source is close to the center of gravity of the transfer vehicle body 21, which helps to improve the force distribution.

[0067] Furthermore, such as Figure 17 and Figure 18 As shown, in a specific example, each group of linear transmission mechanisms 221 of the transmission component 22 specifically includes multiple linear transmission units 2211. The linear transmission units 2211 can specifically adopt a conveyor chain mechanism or a conveyor belt mechanism. Each linear transmission unit 2211 is arranged sequentially in the length direction and spliced ​​to form a linear transmission mechanism 221. In each group of linear transmission mechanisms 221, at least one linear transmission unit 2211 is connected to the transmission drive mechanism 222 to form an active transmission unit, and the other linear transmission units 2211 are driven units.

[0068] by Figures 7 to 10 as well as Figure 17 For example, in the length direction, each set of linear transmission mechanisms 221 includes two linear transmission units 2211, one of which is an active transmission unit and the other is a passive transmission unit. During the transfer operation, one end of the passive transmission unit of the transfer vehicle body 21 is connected to the production line conveyor device 1. When the front wheels of the off-line vehicle 500 step into the transmission component 22 under the operation of the transfer component 23, the front wheels are first placed on the passive transmission unit. At this time, the rear wheels of the off-line vehicle 500 are still on the production line conveyor device 1, and the off-line vehicle 500 continues to move forward under the transmission action of the production line conveyor device 1. When the rear wheels of the off-line vehicle 500 leave the production line conveyor device 1 under the action of the transfer component 23, the front wheels of the off-line vehicle 500 have entered the active transmission unit and continue to move forward under the action of the active transmission unit until the rear wheels of the off-line vehicle 500 step into the transmission component 22, and the entire off-line vehicle 500 is supported on the transfer vehicle body 21.

[0069] When the transfer AGV 2 travels to the target position, the front wheels of the off-line vehicle 500 can be first transferred by the active transfer unit of the transmission assembly 22 to be separated from the transmission assembly 22 and in contact with the road surface in front of the transfer vehicle body 21, and then the transfer vehicle body 21 is operated in reverse to make the rear wheels of the off-line vehicle 500 also separated from the transmission assembly 22 and in contact with the road surface in front of the transfer vehicle body 21, thereby completing the unloading operation of the off-line vehicle 500.

[0070] It should be noted that the specific arrangement of the linear transmission mechanism 221 is not limited to the form in the above example. In actual application, a plurality of linear transmission units 2211 in each group of linear transmission mechanism 221 can be drivingly connected with the transmission drive mechanism 222 according to the use requirement to form a plurality of active transfer units to increase the transmission power.

[0071] In addition, the active transfer unit can perform transmission movement under the drive of the transmission drive mechanism 222, and in the operation process, the transmission drive mechanism 222 operates according to the control operation of the vehicle-mounted controller 31, and when the transmission drive mechanism 222 stops working, the active transfer unit can be kept in the current state to play a locking role, preventing the off-line vehicle 500 from shaking, which is beneficial to keep the off-line vehicle 500 stable during transportation. Corresponding baffle structures can also be arranged on both sides of the linear transmission mechanism 221 to limit the tires of the off-line vehicle 500 in the transverse direction.

[0072] The above application of specific examples to the utility model is described, which is only used to help understand the utility model and does not limit the utility model. For the skilled in the art to which the utility model belongs, according to the idea of the utility model, a number of simple deductions, deformations or substitutions can be made.

Claims

1. A vehicle off-line transfer system characterized by, The vehicle offline transfer system comprises: a production line conveying device for conveying offline vehicles; a transfer AGV comprising a transfer vehicle body, a conveying assembly and a transfer assembly; the conveying assembly is arranged on the top of the transfer vehicle body in the length direction, and the transfer assembly is arranged at least at one end of the transfer vehicle body in the length direction; the transfer assembly is used for docking with the conveying end of the production line conveying device to transfer the tires of the offline vehicle at the conveying end to the conveying assembly, so that the offline vehicle is integrally carried on the top of the transfer vehicle body under the action of the production line conveying device and the conveying assembly; and a control system in communication connection with the production line conveying device and the transfer AGV, which is used to control the production line conveying device and the transfer AGV to operate to perform the transfer and transportation operation of the offline vehicle.

2. The vehicle offline transfer system according to claim 1, wherein the control system comprises: an on-board controller arranged on the transfer AGV, which is in communication connection with the transfer vehicle body, the conveying assembly and the transfer assembly, and is used to control the operation of the transfer vehicle body, the conveying assembly and the transfer assembly and collect the corresponding operation data information; a main controller in communication connection with the production line conveying device and the on-board controller to receive the operation data information of the production line conveying device and the on-board controller, and output corresponding control instructions to the production line conveying device and the on-board controller according to the operation data information; wherein the main controller has an input module, an operation module and a display module; the input module is used to input operation instructions; the operation module is used to perform data operation and processing; and the display module is used to display the operation data information of the production line conveying device and the transfer AGV.

3. The vehicle offline transfer system according to claim 2, wherein the transfer assembly comprises: a telescopic mechanism arranged at one end of the transfer vehicle body in the length direction, which has a telescopic part capable of extending outward and retracting inward relative to the transfer vehicle body in the length direction, and the width of the telescopic part is smaller than the transverse distance between the wheels of the offline vehicle, so that the telescopic part can be inserted into the chassis below the offline vehicle between the two tires; two swing arm mechanisms arranged on both sides of the telescopic part in the width direction and both in rotational connection with the telescopic part, both of which can swing horizontally relative to the telescopic part to switch between the vertical state and the horizontal state; wherein in the vertical state, the two swing arm mechanisms are used to extend into the chassis below the offline vehicle with the telescopic part; and in the horizontal state, the two swing arm mechanisms are used to retract the telescopic part and push the two tires of the offline vehicle into the conveying assembly.

4. The vehicle offline transfer system according to claim 3, wherein the swing arm mechanism comprises: A swing arm, one end of the swing arm is rotationally connected with the telescopic part; A rotating shaft, the rotating shaft is arranged in parallel with the swing arm and the transmission assembly on the corresponding side, and is rotationally connected with the swing arm, the rotating shaft is used to contact and form a rolling fit with the tire of the off-line vehicle; And a swing driving mechanism, the swing driving mechanism is connected with the telescopic part and is in transmission connection with the swing arm, the swing driving mechanism is used to drive the swing arm and the rotating shaft to swing horizontally relative to the telescopic part.

5. The vehicle off-line transfer system according to claim 4, wherein The top surface height of the swing arm is greater than the top surface height of the rotating shaft; and / or The top of the swing arm has a stop block structure, and the side of the stop block structure towards the rotating shaft has a concave structure matched with the shape of the tire.

6. The vehicle off-line transfer system according to claim 3, wherein The adapter assembly further comprises a lifting driving mechanism, the lifting driving mechanism is arranged on the telescopic part and is in transmission connection with the swing arm mechanism, and is used to drive the swing arm mechanism to move up and down along the height direction; or In the length direction, the telescopic part is gradually inclined upwards from the inside to the outside, and the swing arm mechanism is connected to the telescopic part near the outer end.

7. The vehicle off-line transfer system according to claim 3, wherein The telescopic part is provided with a tire detection sensor on each side in the width direction, the tire detection sensor is in communication connection with the vehicle-mounted controller, and the tire detection sensor is used to detect the tire position information of the off-line vehicle and transmit the tire position information to the vehicle-mounted controller.

8. The vehicle off-line transfer system according to claim 2, wherein The transfer AGV further comprises a laser navigator, the laser navigator is arranged on the middle or side of the transfer vehicle body and is in communication connection with the vehicle-mounted controller, and the laser navigator is used to detect the position information of the transfer vehicle body and transmit the position information to the vehicle-mounted controller; and / or The bottom of the transfer vehicle body is provided with at least one universal driving wheel mechanism and a plurality of universal driven wheels, the universal driving wheel mechanism is in communication connection with the vehicle-mounted controller, and is used to drive the transfer vehicle body to travel straight, turn and rotate horizontally in any horizontal direction.

9. The vehicle off-line transfer system according to claim 2, wherein The transmission assembly comprises: Two groups of linear transmission mechanisms, which are arranged at intervals in the width direction, each group of the linear transmission mechanisms extends in the length direction, and the interval of the two groups of the linear transmission mechanisms in the width direction is matched with the lateral spacing of the wheels of the off-line vehicle; A transmission driving mechanism, which is arranged between the two groups of the linear transmission mechanisms and is located near the middle of the transfer vehicle body in the length direction, the transmission driving mechanism is in transmission connection with the two groups of the linear transmission mechanisms to drive the two groups of the linear transmission mechanisms to move synchronously.

10. The vehicle off-line transfer system according to claim 9, wherein Each of the linear transmission mechanisms comprises a plurality of linear transmission units arranged in sequence in the length direction, and at least one of the linear transmission units is in transmission connection with the transmission driving mechanism. The linear transmission unit is a conveying chain mechanism or a conveying belt mechanism.

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