A column foot bolt device for a multifunctional AGV

Abstract

The utility model discloses a column foot bolt device for multi -functional AGV, including outer guide sleeve, the inner guide sleeve of slidable insertion outer guide sleeve, the pin shaft of slidable establishment in the inner guide sleeve and the driver of connection outer guide sleeve, one end of pin shaft is located in the inner guide sleeve, the other end can pass out the inner guide sleeve, and along the axis of inner guide sleeve sliding, be equipped with elastic part between pin shaft and inner guide sleeve, and elastic part impedes pin shaft to slide in the inner guide sleeve, and the driver drives the inner guide sleeve and slides along the axis of outer guide sleeve, the utility model discloses the inner guide sleeve of setting outer guide sleeve, and setting elastic part and pin shaft in the inner guide sleeve, realize through the driver drive inner guide sleeve to drop, and the inner guide sleeve drives pin shaft to drop, the application has realized the integration column foot and bolt, has simplified the structure of AGV, is favorable for reducing manufacturing cost.

Description

Technical Field

[0001] This utility model relates to the field of AGV technology, and in particular to a column base pin device for a multi-functional AGV. Background Technology

[0002] Automated Guided Vehicles (AGVs) are industrial transport vehicles widely used in logistics warehousing, manufacturing, and other fields. They can automatically travel along a preset path to a designated location after loading goods, and complete loading and unloading of goods automatically or manually. In existing technology, when an AGV is temporarily parked while loaded (e.g., waiting for loading and unloading), it is usually supported by a column structure on the vehicle body extending downwards and resting on the ground. However, in scenarios requiring precise positioning operations (e.g., automatic charging docking, assembly), a lifting pin mechanism installed on the ground is needed to raise the AGV and embed it into corresponding positioning holes on the bottom of the AGV body to achieve precise positioning and locking.

[0003] However, the above-mentioned existing technical solutions have the following drawbacks: AGVs need to be equipped with column base mechanisms for temporary parking and positioning hole structures for precise positioning. These two mechanisms are usually designed and installed independently, which makes the structure of AGVs more complex and increases manufacturing costs. Utility Model Content

[0004] This invention provides a column base pin device for a multi-functional AGV to solve the above-mentioned technical problems.

[0005] To achieve the above objectives, the technical solution of this utility model is as follows: A column pin device for a multi-functional AGV includes: an outer guide sleeve, an inner guide sleeve slidably inserted into the outer guide sleeve, a pin slidably disposed within the inner guide sleeve, and a driver connected to the outer guide sleeve; one end of the pin is located within the inner guide sleeve, and the other end can pass through the inner guide sleeve and slide along the axis of the inner guide sleeve; an elastic element is provided between the pin and the inner guide sleeve, the elastic element hindering the pin from sliding within the inner guide sleeve; the driver drives the inner guide sleeve to slide along the axis of the outer guide sleeve.

[0006] Preferably, the pin includes a sliding shaft section and a positioning shaft section, and the sliding shaft section is provided with a first limiting surface extending out of the outer wall of the positioning shaft section; The inner guide sleeve includes an inner cylinder and a first pressure cap. The inner cylinder has a receiving cavity and an opening at the end that communicates with the receiving cavity. A sliding shaft section is slidably disposed in the receiving cavity. The first pressure cap is disposed at the end of the inner cylinder with the receiving cavity opening. A positioning shaft section passes through the center hole of the first pressure cap, and a first limiting surface can abut against the edge of the center hole of the first pressure cap.

[0007] Preferably, the sliding shaft section has a receiving hole at one end away from the positioning shaft section, and the elastic element has one end in the receiving hole and the other end in the receiving cavity.

[0008] Preferably, a first linear bearing is provided between the sliding shaft section and the inner wall of the receiving cavity.

[0009] Preferably, a buffer pad is fixed on the side of the first pressure cap away from the inner cylinder.

[0010] Preferably, the inner cylinder has a flange at the end facing the first pressure cap, and the flange can abut against the end face of the outer guide sleeve.

[0011] Preferably, a second linear bearing is provided between the inner cylinder and the inner wall of the outer guide sleeve.

[0012] Preferably, the positioning shaft section is provided with a positioning protrusion, the positioning shaft section is inserted into the pin hole in the ground, and the positioning protrusion is engaged with the pin hole.

[0013] Preferably, the driver includes: a servo motor, a reducer, and a screw jack; the outer guide sleeve is connected to the screw jack, the servo motor drives the screw jack through the reducer, and the output shaft of the screw jack is connected to the inner guide sleeve.

[0014] Preferably, it also includes a sensor component for detecting the position of the output shaft of the screw jack.

[0015] Beneficial effects: This application discloses a column base pin device for a multi-functional AGV. It features an inner guide sleeve that slidably inserts into an outer guide sleeve, and an elastic element and a pin are housed within the inner guide sleeve. The device is driven by a driver to descend the inner guide sleeve. When aligned with a pin hole on the ground, the inner guide sleeve, through the elastic element, drives the pin to insert into the pin hole. When aligned with the ground, the pin rests against the ground, and the inner guide sleeve continues to move, compressing the elastic element. The inner guide sleeve then rests against the ground, and the pin is compressed and retracted into the inner guide sleeve. Therefore, this application integrates the column base and pin, simplifying the AGV structure and reducing manufacturing costs. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of a column base pin device for a multi-functional AGV disclosed in this utility model; Figure 2This is a front view of a column base pin device for a multi-functional AGV disclosed in this utility model; Figure 3 for Figure 2 Sectional view of AA; Figure 4 for Figure 3 A magnified view of part I; Figure 5 This is a schematic diagram of the structure of the outer guide sleeve of the column base pin device for a multi-functional AGV disclosed in this utility model; Figure 6 This is a schematic diagram of the structure of the guide sleeve inside the column base pin device for a multi-functional AGV disclosed in this utility model; Figure 7 This is a schematic diagram of the structure of a pin shaft for a column base insertion device for a multi-functional AGV disclosed in this utility model.

[0018] 1. Outer guide sleeve; 11. Outer cylinder; 12. Second pressure cap; 13. Connecting flange; 2. Inner guide sleeve; 21. Inner cylinder; 211. Receiving cavity; 212. Flange; 22. First pressure cap; 23. Hinge seat; 3. Pin; 31. Sliding shaft section; 311. Receiving hole; 32. Positioning shaft section; 321. Positioning protrusion; 4. Elastic element; 5. First linear bearing; 6. Buffer pad; 7. Second linear bearing; 81. Servo motor; 82. Reducer; 83. Screw jack; 9. Sensor component; 91. Mounting bracket; 92. First proximity switch; 93. Second proximity switch; 10. Mounting plate. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0020] A column base pin device for a multi-functional AGV, combined with Figures 1-7As shown, it includes: an outer guide sleeve 1, an inner guide sleeve 2 slidably inserted into the outer guide sleeve 1, a pin 3 slidably disposed within the inner guide sleeve 2, and a driver connected to the outer guide sleeve 1; one end of the pin 3 is located within the inner guide sleeve 2, and the other end can pass through the inner guide sleeve 2 and slide along the axis of the inner guide sleeve 2; an elastic element 4 is provided between the pin 3 and the inner guide sleeve 2, and the elastic element 4 prevents the pin 3 from sliding into the inner guide sleeve 2; the driver drives the inner guide sleeve 2 to slide along the axis of the outer guide sleeve 1. This application achieves the sliding of the inner guide sleeve 2 along the axis of the outer guide sleeve 1 by setting an inner guide sleeve 2 slidably inserted into the outer guide sleeve 1; and by setting an elastic element 4 and a pin 3 within the inner guide sleeve 2, it achieves the descent of the inner guide sleeve 2 by the driver, which in turn causes the pin 3 to descend, and the inner guide sleeve 2 can continue to descend after the pin 3 touches the ground. Therefore, when the pin 3 of this application aligns with the pin hole on the ground, the inner guide sleeve 2 descends, and the elastic force of the elastic element 4 drives the pin 3 to descend and insert into the pin hole; when the pin 3 of this application aligns with the ground, after the lower end face of the pin 3 abuts against the ground, the inner guide sleeve 2 continues to move and compress the elastic element 4 until the inner guide sleeve 2 also abuts against the ground, at which point the pin 3 retracts into the inner guide sleeve 2. Ultimately, this achieves positioning through the pin 3 and the pin hole, and provides support through the inner guide sleeve 2 abutting against the ground, thus integrating the column base and the pin, simplifying the AGV's structure, and helping to reduce manufacturing costs.

[0021] Preferably, the pin 3 includes a sliding shaft section 31 and a positioning shaft section 32, and the sliding shaft section 31 is provided with a first limiting surface extending out of the outer wall of the positioning shaft section 32; The inner guide sleeve 2 includes an inner cylinder 21 and a first pressure cap 22. The inner cylinder 21 has a receiving cavity 211 inside and a receiving cavity opening that communicates with the receiving cavity 211 at its end. The sliding shaft section 31 is slidably disposed in the receiving cavity 211. The first pressure cap 22 is disposed on the end of the inner cylinder 21 that has the receiving cavity opening. The positioning shaft section 32 passes through the central hole of the first pressure cap 22, and the first limiting surface can abut against the edge of the central hole of the first pressure cap 22.

[0022] The sliding shaft section 31 of the pin 3 cooperates with the receiving cavity 211 to achieve sliding, and the positioning shaft section 32 of the pin 3 extends out of the inner guide sleeve 2 for insertion into the pin hole for positioning. Furthermore, the elastic force generated by the elastic element 4 presses the first limiting surface of the pin 3 against the edge of the center hole of the first pressure cover 22, ensuring that the pin 3 and the inner guide sleeve 2 descend together; after the inner guide sleeve 2 rises and the elastic element 4 resets, the edge of the center hole of the first pressure cover 22 abuts against the first limiting surface, thereby lifting the pin 3 upward.

[0023] Specifically, the sliding shaft section 31 and the positioning shaft section 32 are cylindrical. The diameter of the sliding shaft section 31 is larger than that of the positioning shaft section 32, thus forming a stepped surface, which is the first limiting surface. A countersunk hole is provided in the inner cylinder 21 to form a receiving cavity 211; the first pressure cap 22 is provided at the open end of the inner cylinder 21, and the positioning shaft section 32 passes through the central hole of the first pressure cap 22. The diameter of the central hole of the first pressure cap 22 is smaller than the outer diameter of the sliding shaft section 31 to ensure that the sliding shaft section 31 will not slide out.

[0024] Preferably, the sliding shaft segment 31 has a receiving hole 311 at the end away from the positioning shaft segment 32. One end of the elastic element 4 is located in the receiving hole 311, and the other end is located in the receiving cavity 211, ensuring that the pin 3 is subjected to uniform force and preventing the pin 3 from jamming. In this embodiment, the elastic element 4 is a compression spring, and the receiving hole 311 is a blind hole opened at the upper end of the sliding shaft segment 31. The size of the blind hole matches the size of the compression spring. The upper end of the compression spring abuts against the bottom of the blind hole on the inner cylinder 21, and the lower end abuts against the bottom of the blind hole on the sliding shaft segment 31.

[0025] Preferably, a first linear bearing 5 is provided between the sliding shaft section 31 and the inner wall of the receiving cavity 211 to reduce the wear of the sliding shaft section 31. In this embodiment, the first linear bearing 5 is a copper sleeve, which is installed at the countersunk hole of the inner cylinder 21, and the annular first pressure cap 22 abuts against the lower end of the copper sleeve to prevent the copper sleeve from falling off.

[0026] Preferably, a buffer pad 6 is fixedly provided on the side of the first pressure cap 22 away from the inner cylinder 21. The buffer pad 6 can cushion the impact with the ground after the inner guide sleeve 2 descends. In this embodiment, the buffer pad 6 is made of rubber material and is glued to the first pressure cap 22.

[0027] Preferably, the inner cylinder 21 has a flange 212 at the end facing the first pressure cap 22. The flange 212 can abut against the end face of the outer guide sleeve 1, thereby restricting the upward sliding position of the inner guide sleeve 2.

[0028] Specifically, the lower end of the inner cylinder 21 is provided with an annular flange 212, so that the lower end face of the flange 212 mates with the first pressure cap 22, and the upper end face forms a second limiting surface, which abuts against the end face of the outer guide sleeve 1 for limiting. The upper end of the inner cylinder 21 is provided with a hinge seat 23, which is connected to the driver. The first pressure cap 22 of the inner cylinder 21 is installed on the flange 212 by screws. The inner cylinder 21, the flange 212 and the hinge seat 23 are integrally formed.

[0029] Preferably, a second linear bearing 7 is provided between the inner cylinder 21 and the inner wall of the outer guide sleeve 1 to reduce wear on the inner cylinder 21. In this embodiment, the second linear bearing 7 is a copper sleeve.

[0030] Specifically, the outer guide sleeve 1 includes: an outer cylinder 11, a second pressure cap 12, and a connecting flange 13. The second pressure cap 12 is screwed onto the bottom end of the outer cylinder 11. The inner bore of the outer cylinder 11 includes a lower large-diameter section and an upper small-diameter section. A copper sleeve is installed at the large-diameter section of the outer cylinder 11, and the annular second pressure cap 12 abuts against the lower end of the copper sleeve to prevent it from falling off. The connecting flange 13 is fixedly connected to the upper end of the outer cylinder 11 and is used for connection with the actuator. The outer cylinder 11 and the connecting flange 13 are integrally machined.

[0031] Preferably, the positioning shaft segment 32 is provided with a positioning protrusion 321. The positioning shaft segment 32 is inserted into the pin hole in the ground, and the positioning protrusion 321 is engaged with the pin hole. After the positioning shaft segment 32 is inserted into the pin hole in the ground, the positioning protrusion 321 can be engaged with the pin hole by the rotation of the AGV to ensure locking. In this embodiment, the positioning shaft segment 32 has an annular groove, thereby forming a positioning protrusion 321 at the end. The pin hole in the ground includes a circular hole and an arc-shaped T-slot. The positioning shaft segment 32 is inserted through the circular hole, and after rotation, the positioning protrusion 321 is engaged with the T-slot.

[0032] Preferably, the driver includes a servo motor 81, a reducer 82, and a screw jack 83; the outer guide sleeve 1 is connected to the screw jack 83, the servo motor 81 drives the screw jack 83 through the reducer 82, and the output shaft of the screw jack 83 is connected to the inner guide sleeve 2. The servo motor 81 drives the output shaft of the screw jack 83 to move up and down through the reducer 82, thereby driving the inner guide sleeve 2 to move up and down.

[0033] Specifically, the outer casing of the screw jack 83 is connected to the connecting flange 13, and the output shaft of the screw jack 83 extends into the outer cylinder 11 and is hinged to the hinge seat 23. The screw jack 83, the reducer 82, and the servo motor 81 are connected in sequence.

[0034] Specifically, a mounting plate 10 is provided on the side of the screw jack 83 away from the outer guide sleeve 1. The mounting plate 10 is fixedly connected to the housing of the screw jack 83 by threads. The mounting plate 10 is used to install on the chassis of the AGV.

[0035] Preferably, the device further includes a sensor component 9 for detecting the position of the output shaft of the screw jack 83, for signal feedback in two states of the device. In this embodiment, the sensor component 9 includes a mounting bracket 91, a first proximity switch 92, and a second proximity switch 93. The mounting bracket 91 is mounted on the chassis of the AGV with screws. The mounting bracket 91 has a vertical elongated hole. The first proximity switch 92 and the second proximity switch 93 pass through the elongated hole and are fixed by nuts. Loosening the nuts allows the positions of the first proximity switch 92 and the second proximity switch 93 to be adjusted up and down. The first proximity switch 92 is located above the second proximity switch 93. The top end of the output shaft of the screw jack 83 is aligned with the first proximity switch 92, which is the positioning state for the pin 3 to descend; the top end of the output shaft of the screw jack 83 is aligned with the second proximity switch 93, which is the column foot state for the inner guide sleeve 2 to descend.

[0036] Specifically, four sets of column pin devices can be installed on the chassis of the AGV to meet the reliable support and positioning requirements of the AGV.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A column base pin device for a multi-functional AGV, characterized in that, include: An outer guide sleeve (1), an inner guide sleeve (2) slidably inserted into the outer guide sleeve (1), a pin (3) slidably disposed in the inner guide sleeve (2), and a driver connected to the outer guide sleeve (1); one end of the pin (3) is located inside the inner guide sleeve (2), and the other end can pass through the inner guide sleeve (2) and slide along the axis of the inner guide sleeve (2); an elastic element (4) is provided between the pin (3) and the inner guide sleeve (2), and the elastic element (4) prevents the pin (3) from sliding into the inner guide sleeve (2); the driver drives the inner guide sleeve (2) to slide along the axis of the outer guide sleeve (1).

2. The column base pin device for a multi-functional AGV according to claim 1, characterized in that, The pin (3) includes a sliding shaft section (31) and a positioning shaft section (32), wherein the sliding shaft section (31) is provided with a first limiting surface extending out of the outer wall of the positioning shaft section (32); The inner guide sleeve (2) includes an inner cylinder (21) and a first pressure cap (22). The inner cylinder (21) has a receiving cavity (211) inside and a receiving cavity opening that communicates with the receiving cavity (211) at the end. The sliding shaft section (31) is slidably disposed in the receiving cavity (211). The first pressure cap (22) is disposed on the end of the inner cylinder (21) where the receiving cavity opening is located. The positioning shaft section (32) passes through the center hole of the first pressure cap (22), and the first limiting surface can abut against the edge of the center hole of the first pressure cap (22).

3. A column base pin device for a multi-functional AGV according to claim 2, characterized in that, The sliding shaft section (31) has a receiving hole (311) at one end away from the positioning shaft section (32), and the elastic element (4) has one end in the receiving hole (311) and the other end in the receiving cavity (211).

4. A column base pin device for a multi-functional AGV according to claim 2, characterized in that, A first linear bearing (5) is provided between the sliding shaft section (31) and the inner wall of the receiving cavity (211).

5. A column base pin device for a multi-functional AGV according to claim 2, characterized in that, A buffer pad (6) is fixed on the side of the first pressure cap (22) away from the inner cylinder (21).

6. A column base pin device for a multi-functional AGV according to claim 2, characterized in that, The inner cylinder (21) has a flange (212) at the end facing the first pressure cap (22), and the flange (212) can abut against the end face of the outer guide sleeve (1).

7. A column base pin device for a multi-functional AGV according to claim 2, characterized in that, A second linear bearing (7) is provided between the inner cylinder (21) and the inner wall of the outer guide sleeve (1).

8. A column base pin device for a multi-functional AGV according to any one of claims 2-7, characterized in that, The positioning shaft section (32) is provided with a positioning protrusion (321). The positioning shaft section (32) is inserted into a pin hole in the ground, and the positioning protrusion (321) is engaged with the pin hole.

9. A column base pin device for a multi-functional AGV according to claim 1, characterized in that, The driver includes a servo motor (81), a reducer (82), and a screw jack (83); the outer guide sleeve (1) is connected to the screw jack (83), the servo motor (81) drives the screw jack (83) through the reducer (82), and the output shaft of the screw jack (83) is connected to the inner guide sleeve (2).

10. A column base pin device for a multi-functional AGV according to claim 9, characterized in that, It also includes a sensor component (9) for detecting the position of the output shaft of the screw jack (83).

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