Automation device for automatic pin hanging and automatic pin disengaging of traction AGV

Abstract

The utility model discloses an automation device for pulling an AGV to automatically hang and release pins, and belongs to the technical field of AGV hanging and release pins. The device mainly comprises an automatic pin releasing and hanging mechanism, the automatic pin releasing and hanging mechanism comprises a second buffer plate, the upper end and the lower end of one side of the second buffer plate are fixedly connected with a first bottom plate and a second bottom plate respectively, the side, close to the first bottom plate, of the second bottom plate is fixedly connected with a guide plate, and a locking mechanism is fixedly connected between the guide plate and the first bottom plate; the first bottom plate is matched with the guide plate, the material vehicle can be connected with an AGV tractor to work on road surfaces with different gradients, a visual sensor and a distance sensor are added to be matched with a driving device, and automatic pin disengaging and hanging are achieved.

Description

Technical Field

[0001] This utility model belongs to the field of AGV pin removal technology, and more specifically, it relates to an automated device for automatically attaching and detaching pins on a traction AGV. Background Technology

[0002] AGV tractors are mainly used to tow material carts and transfer materials. Currently, most AGVs use manual hook-and-unhooking, while a few have automatic hook-and-unhooking mechanisms. However, their application is limited to level roads, and manual intervention is still required for some complex road surfaces, resulting in a limited range of applications.

[0003] Patent CN113650459B discloses an automatic uncoupling pin mechanism and method for connecting material carts. It mainly includes a base plate with a guide port corresponding to the connecting pin and a detection sensor cooperating with the guide port. A guide bearing is mounted on the base plate, and an electrically movable push rod is housed within the guide bearing. A pin baffle is mounted on the upper end of the electrically movable push rod via a hinged linkage mechanism. While this patent solves the problem of uncoupling pins between the AGV tractor and the material cart, manual inspection is required each time the pin is uncoupled. Furthermore, this invention lacks the capability to perform uncoupling operations on sloping surfaces, making it unsuitable for various scenarios.

[0004] To address the aforementioned technical problems, this application proposes a solution. Utility Model Content

[0005] The technical problem to be solved by this utility model is to overcome the shortcomings of the prior art and provide an automated device for automatically attaching and detaching pins for traction AGVs. Its base plate and guide plate cooperate to allow material carts to connect with AGV tractors on roads with different slopes. Furthermore, visual sensors and distance sensors are added to cooperate with the drive device to achieve automated pin attachment and detachment.

[0006] An automated device for automatically attaching and detaching pins for traction AGVs includes an automatic pin-detaching mechanism. The automatic pin-detaching mechanism includes a second buffer plate. The upper and lower ends of one side of the second buffer plate are respectively fixedly connected to a first base plate and a second base plate. A guide plate is fixedly connected to the side of the second base plate near the first base plate. A locking mechanism is fixedly connected between the guide plate and the first base plate.

[0007] The locking mechanism comprises a shell, a semi-closed through hole is arranged in the middle of the shell, an arc plate is arranged in the middle of the through hole, a partition plate is fixedly connected between the arc plate and the through hole, arc-shaped baffle one and arc-shaped baffle two are slidably connected on both sides of the partition plate, the arc-shaped baffle one is a three-quarter circular arc, a rack two is fixedly connected to the outer side of the arc-shaped baffle one, a toothed plate groove one is formed on one side of the arc-shaped baffle one, the arc-shaped baffle two is a three-quarter circular arc, a toothed plate groove two is formed on one side of the arc-shaped baffle two, and a rack three is fixedly connected to the inner side of the arc-shaped baffle two, the toothed plate groove one and the toothed plate groove two are consistent in size, an axle hole is formed on the side of the partition plate away from the opening, a driving shaft is rotatably connected in the axle hole, two gears and a synchronous wheel one are sequentially fixedly connected to the driving shaft, one of the gears is in meshing transmission connection with the rack two, the other gear is in meshing transmission connection with the rack three, the outer side of the synchronous wheel one is in meshing transmission connection with a synchronous belt one, a driving device two is fixedly connected to the middle of the bottom plate two between the guide plate and the buffer plate two, the driving device two is fixedly connected with the synchronous wheel one at the extending end, and the synchronous wheel one on the driving device two is in meshing transmission connection with the synchronous belt one.

[0008] Preferably, one end of the bottom plate one is an eight-shaped opening, a mounting frame is fixedly connected above the bottom plate one, a mounting plate two is fixedly connected to the upper side of the mounting frame, an installation plate one is arranged at one end of the mounting plate two and fixedly connected with the mounting frame, a visual sensor is fixedly connected to the installation plate one towards the eight-shaped opening side, a hole is formed between the installation plate one and the mounting plate two, a telescopic toothed plate is slidably connected in the hole, a rack one is fixedly connected to the middle of the side of the telescopic toothed plate close to the mounting plate two, a gear one and a gear two are rotatably connected in the mounting plate two, the gear one is in meshing transmission connection with the gear two, the gear two is in meshing transmission connection with the rack one, a synchronous wheel two is fixedly connected to the shaft on the side of the gear one, a synchronous belt two is in meshing transmission connection with the outer side of the synchronous wheel two, a driving device one is fixedly connected to one side of the mounting frame, the driving device one is fixedly connected with the synchronous wheel two at the extending end, and the synchronous wheel two on the extending end of the driving device one is in meshing transmission connection with the synchronous belt two, a distance sensor is fixedly connected between the mounting frame and the bottom plate one.

[0009] Preferably, the guide plate is curved away from the locking mechanism side, a guide groove is formed on the surface of the guide plate close to the locking mechanism side, the guide groove is a “V”-shaped opening, and a toothed plate groove three is formed in the guide plate directly below the telescopic toothed plate.

[0010] Preferably, the telescopic toothed plate is fixedly connected through the toothed plate groove one, the toothed plate groove two and the toothed plate groove three.

[0011] Preferably, the automatic unhooking pin mechanism is movably connected with a material car on one side, the material car comprises a connecting pin, a through hole is arranged at the connection between the connecting pin and the material car, the connecting pin abuts against the inner surfaces of the arc plate and the arc-shaped baffle one and the arc-shaped baffle two, and the telescopic toothed plate is slidably connected with the through hole.

[0012] Preferably, the buffer plate two four around fixedly connected with guide shaft, guide shaft outside is connected with elastic damper, the one end of the guide shaft is slidably connected with the buffer plate one, the elastic damper is opposite with buffer plate one, the one side of the buffer plate one is fixedly connected with the fixed plate, the fixed plate four around fixedly connected with bolt, four the one end of bolt is fixedly connected with tractor.

[0013] Compared with the prior art, the utility model has the advantages that:

[0014] The connecting pin of the material car is positioned in the horizontal direction and the vertical direction, so that the connecting pin can be placed in the locking mechanism more easily, and the AGV tractor is automatically controlled to approach the material car when the visual sensor identifies the material car and the connecting pin, and the driving device one and the driving device two are automatically controlled to open the arc-shaped baffle one, the arc-shaped baffle two and the telescopic tooth plate, and the distance sensor side detects that the distance from the connecting pin is less than or equal to 3cm, so that the driving device one and the driving device two are automatically controlled to close the arc-shaped baffle one, the arc-shaped baffle two and the telescopic tooth plate, the AGV tractor pulls the material car, and after the AGV tractor reaches the destination, the arc-shaped baffle one, the arc-shaped baffle two and the telescopic tooth plate are controlled by the driving device one and the driving device two, the AGV tractor is moved forward, the connecting pin is separated from the shell, and the automatic separation and hanging of the connecting pin are realized, the intelligence is improved, and the work efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the structural schematic diagram of the utility model;

[0016] Figure 2 It is the structural schematic diagram of another view of the utility model;

[0017] Figure 3 It is the structural schematic diagram of the side surface of the utility model;

[0018] Figure 4 It is the structural schematic diagram of the bottom plate one in the utility model;

[0019] Figure 5 It is the structural schematic diagram of the locking structure;

[0020] Figure 6 It is the structural schematic diagram of the driving shaft in the locking structure and the arc-shaped baffle one and the arc-shaped baffle two cooperation;

[0021] Figure 7 It is the structural schematic diagram of the arc-shaped baffle one;

[0022] Figure 8 is a structural schematic view of the arc-shaped baffle two;

[0023] Figure 9 is a structural schematic view of the shell;

[0024] Figure 10 is a structural schematic view of the utility model cooperating with the AGV tractor and the material car;

[0025] Figure 11 is Figure 10 is a local enlarged view of the A part in the middle.

[0026] In the figure, 1, buffer plate one; 2, buffer plate two; 3, elastic damper; 4, guide shaft; 5, fixed plate; 501, bolt; 6, driving device one; 7, telescopic toothed plate; 701, rack one; 8, visual sensor; 9, bottom plate one; 901, mounting plate one; 902, mounting plate two; 903, mounting bracket; 904, wire harness hole; 10, locking mechanism; 1001, driving shaft; 1001A, gear; 1002, arc-shaped baffle one; 1002A, rack two; 1002B, toothed plate slot one; 1003, arc-shaped baffle two; 1003A, rack three; 1003B, toothed plate slot two; 1004, synchronous belt one; 1005, synchronous wheel one; 1006, driving device two; 1007, shell; 1007A, partition; 1007B, arc plate; 1007C, shaft hole; 11, guide plate; 1101, toothed plate slot three; 1102, guide slot; 12, bottom plate two; 13, synchronous belt two; 14, gear one; 15, gear two; 16, synchronous wheel two; 17, AGV tractor; 18, material car; 1801, connecting pin; 1802, through hole; 19, distance sensor. DETAILED DESCRIPTION

[0027] The utility model will be further explained in connection with the drawings:

[0028] The orientation terms involved in the paragraphs of detailed description are only for the convenience of the person skilled in the art to understand the technical solutions recorded in the application according to the visual orientation shown in the drawings. Except for explicit provisions and limitations, the terms such as “setting”, “installing”, “connecting” should be understood broadly, and for the person skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0029] As Figures 1 to 11As shown, an automatic device for automatic hanging and automatic unhooking of the hitch pin of the AGV, reducing manual intervention and improving work efficiency, comprising an automatic unhooking and hanging mechanism, the automatic unhooking and hanging mechanism comprising a buffer plate two 2, the buffer plate two 2 is fixedly connected with a bottom plate one 9 and a bottom plate two 12 at the upper and lower ends on one side respectively, the bottom plate two 12 is fixedly connected with a guide plate 11 on the side close to the bottom plate one 9, and the guide plate 11 is fixedly connected with a locking mechanism 10 in the middle of the bottom plate two 12 and the bottom plate one 9.

[0030] The locking mechanism 10 comprises a shell 1007, a semi-closed through hole is arranged in the middle of the shell 1007, an arc plate 1007B is arranged in the middle of the through hole, a partition plate 1007A is fixedly connected between the arc plate 1007B and the through hole, an arc-shaped baffle one 1002 and an arc-shaped baffle two 1003 are slidably connected on both sides of the partition plate 1007A, the partition plate 1007A serves to divide the arc-shaped baffle one 1002 and the arc-shaped baffle two 1003, reduce friction, and the arc-shaped baffle one 1002 and the arc-shaped baffle two 1003 move in opposite directions. The arc-shaped baffle one 1002 is a three-quarter circular arc, a rack two 1002A is fixedly connected to the outside, a toothed plate groove one 1002B is formed on one side of the arc-shaped baffle one 1002, the arc-shaped baffle two 1003 is a three-quarter circular arc, and the advantage of this design is that the connecting pin 1801 can be closed in the shell 10078 and the connecting pin 1801 can freely enter and exit the shell 1007. A toothed plate groove two 1003B is formed on one side of the arc-shaped baffle two 1003, a rack three 1003A is fixedly connected to the inside, the toothed plate groove one 1002B and the toothed plate groove two 1003B have the same size, an axle hole 1007C is formed on the side of the partition plate 1007A away from the opening, a drive shaft 1001 is rotatably connected in the axle hole 1007C, two gears 1001A and a synchronous wheel one 1005 are fixedly connected in sequence on the drive shaft 1001, one of the gears 1001A is in meshing transmission connection with the rack two 1002A, the other gear 1001A is in meshing transmission connection with the rack three 1003A, and the synchronous wheel one 1005 is in meshing transmission connection with a synchronous belt one 1004 on the outside. The guide plate 11 and the bottom plate two 12 in the middle of the buffer plate two 2 are fixedly connected with a driving device two 1006, the driving device two 1006 is fixedly connected with the synchronous wheel one 1005 at the extending end, and the synchronous wheel one 1005 on the driving device two 1006 is in meshing transmission connection with the synchronous belt one 1004.

[0031] The bottom plate 9 is provided with an eight-shaped opening at one end, and the bottom plate 9 is fixedly connected with a mounting rack 903 above it. The mounting rack 903 is fixedly connected with a mounting plate 902 on the upper side. The mounting plate 902 is provided with a mounting plate 901 at one end, which is fixedly connected with the mounting rack 903. The mounting plate 901 is fixedly connected with a visual sensor 8 on the side facing the eight-shaped opening. Before using the visual sensor 8, the pictures of the material car 18 and the connecting pin 1801 at various angles need to be transmitted to the computer controlling the visual sensor 8. When the visual sensor 8 recognizes the material car 18 and the connecting pin 1801, the AGV tractor 17 is controlled to approach the connecting pin 1801 and control the driving device 6 and the driving device 1006 to work, so as to place the connecting pin 1801 in the shell 1007. The distance between the distance sensor 19 and the connecting pin 1801 is detected by the distance sensor 19. When the distance is less than or equal to 3 cm, that is, the connecting pin 1801 is completely located in the middle of the shell, the driving device 6 and the driving device 1006 are controlled to fix the connecting pin 1801 in the shell. The telescopic tooth plate 7 is controlled to be fixed again. A hole is formed between the mounting plate 901 and the mounting plate 902, and the telescopic tooth plate 7 is slidably connected in the hole. The telescopic tooth plate is installed to prevent the arc-shaped baffle 1002 and the arc-shaped baffle 1003 from being deformed due to the large pulling force when the AGV tractor 17 pulls the material car 18 to move. When the telescopic tooth plate 7 is added, the deformation caused by traction can be eliminated. The telescopic tooth plate 7 is fixedly connected with a rack 701 at the middle of the side close to the mounting plate 902. The mounting plate 902 is rotatably connected with a gear 14 and a gear 15. The gear 14 and the gear 15 are in meshing transmission connection. The gear 15 is in meshing transmission connection with the rack 701. The gear 14 is fixedly connected with a synchronous wheel 16 on the shaft of the side. The synchronous wheel 16 is in meshing transmission connection with a synchronous belt 13 on the outer side. The mounting rack 903 is fixedly connected with a driving device 6 on one side. The driving device 6 is fixedly connected with the synchronous wheel 16 on the extension end. The synchronous wheel 16 on the extension end of the driving device 6 is in meshing transmission connection with the synchronous belt 13. The telescopic tooth plate 7 is controlled to be extended up and down by the driving device 6. The mounting rack 903 and the bottom plate 9 are provided with a distance sensor 19 fixedly connected with the bottom plate 9 in the middle.

[0032] The guide plate 11 is bent away from the locking mechanism 10, that is, bent towards the ground, and the advantage of this design is that when driving on a road with a slope, the connecting pin 1801 is only limited by the bottom plate 9, which can cause the connecting pin 1801 to fail to move to the inside of the shell 1007, and the installation of the guide plate 11 can guide the connecting pin 1801 to the inside of the shell 1007 to be positioned and locked. The surface of the guide plate 11 close to the locking mechanism 10 is provided with a guide groove 1102, and the guide groove 1102 is a "V" type opening, and the guide plate 11 located directly below the telescopic tooth plate 7 is provided with a tooth plate groove three 1101. The telescopic tooth plate 7 is fixedly connected with the tooth plate groove three 1101 through the tooth plate groove one 1002B and the tooth plate groove two 1003B. The automatic unhooking pin mechanism is movably connected with the material car 18 on one side, and the material car 18 comprises a connecting pin 1801, the connecting pin 1801 is provided with a through hole 1802 at the connecting position with the material car 18, the connecting pin 1801 abuts against the inner surfaces of the arc plate 1007B, the arc-shaped baffle one 1002 and the arc-shaped baffle two 1003, and the telescopic tooth plate 7 is slidably connected with the through hole 1802.

[0033] The buffer plate two 2 is fixedly connected with a guide shaft 4 around, the guide shaft 4 is connected with an elastic damper 3 outside, vibration generated by hard connection is reduced, and stability is improved. One end of the guide shaft 4 is slidably connected with the buffer plate one 1, the elastic damper 3 abuts against the buffer plate one 1, the buffer plate one 1 is fixedly connected with a fixed plate 5 on one side, the fixed plate 5 is fixedly connected with bolts 501 around, and four ends of the bolts 501 are fixedly connected with the AGV tractor 17.

[0034] The driving device one 6 and the driving device two 1006 in the utility model are servo motors, the reason for adopting the servo motor is that control is more accurate, and a rotating angle is controllable. The reason for using the synchronous belt one 1004 and the synchronous belt two 13 is to prevent slipping phenomenon during rotation, so as to cause inaccurate control.

[0035] The skilled in the art can limit the specified position of each executing component in the following movement process by the prior art mastered by them, such as installing corresponding mechanical limit switch or photoelectric sensor; in order to realize automatic operation, the utility model can adopt numerical control technology or PLC to control the movement of each executing component. Working process: the automatic pin unhooking mechanism in the utility model needs to be fixed together with the AGV tractor 17 through bolts, when working, the AGV tractor 17 moves with the automatic pin unhooking mechanism, after recognizing the material car 18 through the visual sensor 8, the driving device one 6 is driven to rotate, the synchronous wheel two 16 on the driving device one 6 rotates, driving the synchronous belt two 13 to rotate, so that the gear one 14 drives the gear two 15 to rotate, the gear two 15 rotates, driving the telescopic tooth plate 7 to move upwards, after moving to the upper side of the base plate one 9, stop moving; immediately, the driving device two 1006 rotates, through the synchronous wheel one 1005 on the driving device two 1006 rotating to drive the synchronous belt one 1004 to rotate, so that the driving shaft 1001 rotates, the two gears 1001A on the driving shaft 1001 drive the arc baffle one 1002 and the arc baffle two 1003 to rotate, so that the shell 1007 forms an opening.

[0036] The AGV tractor 17 moves backwards, the connecting pin 1801 on the material car 18 moves to the inside of the shell 1007 under the joint action of the base plate one 9 and the guide groove 1102 in the guide plate 11, at this time, the distance sensor 19 detects the distance between the connecting pin 1801, when the distance is less than or equal to 3cm, the driving device two 1006 starts, driving the arc baffle one 1002 and the arc baffle two 1003 to move reversely, so that the arc baffle one 1002 and the arc baffle two 1003 wrap the connecting pin 1801 together with the shell 1007, when the tooth plate groove one 1002B coincides with the tooth plate groove two 1003B, the driving device two 1006 stops moving; the driving device one 6 moves, driving the telescopic tooth plate 7 to move downwards through the tooth plate groove one 1002B and the tooth plate groove two 1003B, and fixing with the tooth plate groove three 1101, at this time, the AGV tractor 17 can move with the material car 18 for movement operation. When the AGV tractor 17 needs to release the material car 18, only needs to give an instruction, start the driving device one 6 to drive the telescopic tooth plate 7 to move upwards, start the driving device two 1006 again to drive the arc baffle one 1002 and the arc baffle two 1003 to move to the inside of the shell 1007, after leaving space, moving the AGV tractor 17 forwards can make the material car 18 separate from the AGV tractor 17.

[0037] Finally, although the present specification is described according to the embodiments, not every embodiment contains only one independent technical solution, the description manner of the specification is only for the sake of clarity, the skilled in the art should take the specification as a whole, the technical solution in each embodiment can also be combined appropriately, forming other embodiments which can be understood by the skilled in the art.

Claims

1. An automated device for automatically attaching and detaching pins on a traction AGV, comprising an automatic pin-detaching mechanism, characterized in that: The automatic detachment pin mechanism includes a second buffer plate. The upper and lower ends of one side of the second buffer plate are respectively fixedly connected to a first base plate and a second base plate. The side of the second base plate close to the first base plate is fixedly connected to a guide plate. A locking mechanism is fixedly connected between the guide plate and the first base plate. The locking mechanism includes a housing with a semi-closed through hole in the center. An arc plate is positioned in the center of the through hole, and a partition is fixedly connected between the arc plate and the through hole. An arc-shaped baffle one and an arc-shaped baffle two are slidably connected to opposite sides of the partition. The arc-shaped baffle one is a three-quarter arc shape, with a rack two fixedly connected to its outer side. A toothed groove one is formed on one side of the arc-shaped baffle one. The arc-shaped baffle two is also a three-quarter arc shape, with a toothed groove two on one side, and a rack three fixedly connected to its inner side. The toothed groove one and toothed groove two have the same opening size. A shaft hole is provided on the side of the partition facing away from the opening. A drive shaft is rotatably connected in the shaft hole. Two gears and a synchronous pulley are fixedly connected in sequence on the drive shaft. One of the gears meshes with a rack and pinion and the other gear meshes with a rack and pinion. A synchronous belt is meshed with the outer side of the synchronous pulley. A drive device is fixedly connected to the bottom plate 2 between the guide plate and the buffer plate 2. The extended end of the drive device 2 is fixedly connected to the synchronous pulley. The synchronous pulley on the drive device 2 meshes with the synchronous belt.

2. The automated device for automatic pin engagement and disengagement of a traction AGV according to claim 1, characterized in that: The base plate has a figure-eight opening at one end. A mounting bracket is fixedly connected to the top of the base plate. A mounting plate is fixedly connected to the upper side of the mounting bracket. One end of the mounting plate is provided with a mounting plate that is fixedly connected to the mounting bracket. A visual sensor is fixedly connected to the side of the mounting plate facing the figure-eight opening. A hole is opened between the mounting plate and the mounting plate. A telescopic toothed plate is slidably connected in the hole. A rack is fixedly connected to the middle of the side of the telescopic toothed plate near the mounting plate. Gear 1 and Gear 2 are rotatably connected inside the mounting plate. Gear 1 and Gear 2 are meshed and connected to each other. Gear 2 is meshed and connected to the rack. A synchronous pulley 2 is fixedly connected to the shaft on one side of the gear. A synchronous belt 2 is meshed and connected to the outer side of the synchronous pulley 2. A drive device 1 is fixedly connected to one side of the mounting bracket. A synchronous pulley 2 is fixedly connected to the extended end of the drive device 1. The synchronous pulley 2 on the extended end of the drive device 1 is meshed and connected to the synchronous belt 2. A distance sensor is provided between the mounting bracket and the base plate and fixedly connected to the base plate.

3. The automated device for automatic pin engagement and disengagement of a traction AGV according to claim 2, characterized in that: The guide plate bends away from the locking mechanism. A guide groove is provided on the surface of the guide plate near the locking mechanism. The guide groove has a "V" shaped opening. The guide plate located directly below the telescopic toothed plate has a toothed groove.

4. An automated device for automatically attaching and detaching pins on a traction AGV according to claim 3, characterized in that: The telescopic toothed plate passes through toothed plate groove one and toothed plate groove two and is fixedly connected with toothed plate groove three.

5. An automated device for automatically attaching and detaching pins on a traction AGV according to claim 4, characterized in that: The automatic unhooking mechanism is movably connected to a material cart on one side. The material cart includes a connecting pin, and a through hole is provided at the connection between the connecting pin and the material cart. The connecting pin abuts against the inner surfaces of the arc plate and the first and second arc baffles. The telescopic toothed plate is slidably connected to the through hole.

6. An automated device for automatically attaching and detaching pins on a traction AGV according to claim 1, characterized in that: The buffer plate is fixedly connected to guide shafts around its perimeter. An elastic damper is connected to the outside of the guide shafts. One end of the guide shaft is slidably connected to the buffer plate. The elastic damper abuts against the buffer plate. A fixing plate is fixedly connected to one side of the buffer plate. Bolts are fixedly connected around the fixing plate. One end of each of the four bolts is fixedly connected to the tractor.

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