AGV tail traction mechanism

Abstract

The utility model discloses a kind of AGV tail traction mechanism, it is related to automatic guided vehicle technical field, comprising: traction frame, it is fixedly arranged in the tail of AGV car body;Cargo hook release mechanism, it is installed on traction frame;Traction rod, it is rotatably arranged on traction frame, and can rotate between locking position and release position;And goods shelf hook, it is set on the to-be-dragged goods shelf;Traction frame is equipped with for guiding the guide portion that goods shelf hook enters;When goods shelf hook enters traction frame along guide portion, push traction rod rotates from initial position to locking position, to lock goods shelf hook;When needing to release goods shelf hook, cargo hook release mechanism acts, drives traction rod to rotate to release position, to release the lock of goods shelf hook.The utility model aims at providing a kind of AGV tail traction mechanism with simple structure, reliable action, can automatically realize hooking and unhooking.

Description

Technical Field

[0001] This utility model relates to the field of automated guided vehicles (AGVs), specifically to an AGV tail traction mechanism. Background Technology

[0002] Automated Guided Vehicles (AGVs) are widely used in warehousing and logistics. Currently, the most common AGV traction method is the submerged type, where the AGV lies under the rack and a lifting mechanism lifts the rack for transport. This method has specific requirements for the space under the rack and cannot achieve traction transport. For wheeled racks that need to be tractioned, existing technology lacks a mechanism that can automatically and reliably engage and disengage. Therefore, there is an urgent need for a dedicated traction mechanism that can be installed at the rear of the AGV, is compact in structure, and operates reliably to achieve automated processes. Utility Model Content

[0003] The purpose of this invention is to overcome the shortcomings of the existing technology and provide an AGV tail traction mechanism that is simple in structure, reliable in operation, and can automatically engage and disengage.

[0004] To solve the above problems, the technical solution provided by this utility model is as follows:

[0005] An AGV tail traction mechanism includes:

[0006] The traction frame is fixedly installed at the rear of the AGV body;

[0007] A cargo hook release mechanism, which is mounted on the traction frame;

[0008] A traction bar, which is rotatably mounted on the traction frame and is capable of rotating between a locked position and a released position;

[0009] And shelf hooks, which are installed on the shelf to be pulled;

[0010] The traction frame is provided with a guide section for guiding the shelf hook into place;

[0011] When the shelf hook enters the traction frame along the guide, it pushes the traction bar to rotate from the initial position to the locking position to lock the shelf hook.

[0012] When it is necessary to release the shelf hook, the hook release mechanism is activated, driving the traction bar to rotate to the release position to release the lock on the shelf hook.

[0013] The basic components of the AGV tail traction mechanism are defined, including a traction frame, a hook release mechanism, a traction bar, and a shelf hook. These components together achieve the core function of the mechanism: enabling the AGV to automatically engage and disengage from shelves through mechanical interlocking. The traction frame provides the mounting base, and the guide ensures smooth insertion of the shelf hook; the traction bar acts as a locking element, securing the shelf hook in the locked position; the hook release mechanism actively controls the disengagement process. This structure solves the automation problem of AGV tail traction and improves handling efficiency.

[0014] Optionally, the traction frame has an internal cavity, and the guide portion is an inclined guide plate extending outward from the entrance of the traction frame.

[0015] The internal structure and guide form of the traction frame are further defined. The receiving cavity provides space for the rack hook to enter and stay, ensuring a stable locking process; the inclined guide plate, as a guide, extends to the outside of the frame entrance, and its function is to reduce the alignment accuracy requirements of the rack hook, reduce impact through inclined guidance, and avoid jamming.

[0016] Optionally, the traction frame is provided with a limiting component, the limiting component including a limiting plate rotatably disposed on the traction frame, the limiting plate having a first position that restricts the rotation of the traction bar and a second position that allows the traction bar to rotate significantly.

[0017] The function of the limit plate is to control the rotation range of the traction bar: in the first position (such as the horizontal position), it restricts the traction bar to only a small range of rotation to prevent accidental disengagement; in the second position (such as the vertical position), it allows the traction bar to rotate significantly, providing space for the shelf hook to disengage. This enhances the reliability and safety of the locking mechanism.

[0018] Optionally, the limiting assembly further includes a torsion spring, one end of which acts on the traction frame and the other end of which acts on the limiting plate, providing the limiting plate with a restoring force to return from the second position to the first position.

[0019] A torsion spring is added to the limit assembly. Its function is to provide an automatic restoring force so that the limit plate can automatically return from the second position to the first position after the unhooking operation, keeping the mechanism in a standby state, reducing the need for external control, and improving the response speed.

[0020] Optionally, spring fixing plates are provided on both sides of the traction bar, one end of the tension spring is connected to the spring fixing plate, and the other end is connected to the traction frame, providing the traction bar with a restoring force to return from the locked position to the initial position.

[0021] A tension spring and a spring fixing plate are added to the traction bar to provide elastic restoring force, so that the traction bar can automatically spring back to the initial position after being pushed and rotated by the shelf hook, realizing active locking and ensuring that the locking action is fast and reliable.

[0022] Optionally, the bottom of the traction bar is provided with a guide chamfer to facilitate the sliding of the shelf hook.

[0023] A guide chamfer is set at the bottom of the traction bar. Its function is to reduce the contact stress between the shelf hook and the traction bar. The chamfer guides the shelf hook to slide in more smoothly and push the traction bar upward, reducing wear and jamming risks.

[0024] Optionally, the cargo hook release mechanism includes a drive motor, an eccentric rotating plate driven by the drive motor, and a rolling bearing disposed at the end of the eccentric rotating plate; when the drive motor is started, it drives the eccentric rotating plate to rotate, and pushes the limiting plate from the first position to the second position through the rolling bearing.

[0025] The composition of the hook release mechanism is defined in detail, including a drive motor, an eccentric rotating plate, and rolling bearings. Its function is to convert the rotational motion of the motor into linear displacement or rotation of the limit plate, achieving electrically controlled hook release. The rolling bearings reduce friction, improving the smoothness of operation and extending the vehicle's lifespan.

[0026] Optionally, a first sensing component is also included, which includes two photoelectric sensors respectively disposed in the sensing areas corresponding to the first and second positions of the limiting plate, for detecting the position state of the limiting plate.

[0027] The addition of a first sensing component (two photoelectric sensors) is intended to monitor the position status of the limit plate (first or second position) in real time, providing feedback signals to the control system to achieve precise control and status monitoring of the uncoupling process.

[0028] Optionally, a second sensing component is also included, which is a proximity switch disposed in the bottom receiving cavity of the traction frame, for detecting whether the shelf hook has entered a predetermined position.

[0029] Adding a second sensing component (proximity switch) has the function of detecting whether the shelf hook has entered the predetermined position of the traction frame, providing a signal of successful engagement, and ensuring that the AGV only starts transporting after locking is completed, thus avoiding misoperation.

[0030] Optionally, the traction frame may also be provided with a support rod that supports the limiting plate.

[0031] Adding a support rod to the traction frame serves to provide auxiliary support for the limit plate, enhance its structural rigidity, prevent the limit plate from bending or failing under stress, and improve the durability and stability of the entire mechanism.

[0032] Compared with the prior art, the technical solution provided by this utility model has the following advantages:

[0033] 1. It achieves automatic hooking and unhooking of the AGV tail to the shelf, with a high degree of automation.

[0034] 2. The structure is simple and the operation is reliable due to the mechanical interlock and spring reset mechanism.

[0035] 3. Multiple sensors are installed to monitor the status of each component in real time, ensuring accurate positioning and a clear control system logic.

[0036] 4. It has a compact structure and is easy to install and deploy at the rear of the AGV vehicle. Attached Figure Description

[0037] Figure 1 An isometric view of the overall structure of an AGV tail traction mechanism proposed for an embodiment of this utility model;

[0038] Figure 2 A schematic diagram of the traction frame of an AGV tail traction mechanism proposed for an embodiment of this utility model;

[0039] Figure 3 A schematic diagram of the cargo hook release mechanism of an AGV tail traction mechanism proposed for an embodiment of this utility model;

[0040] Figure 4 A schematic diagram of the traction bar of an AGV tail traction mechanism proposed for an embodiment of this utility model;

[0041] 1. Shelf hook; 2. Traction frame; 21. Guide plate; 22. Support rod; 24. Torsion spring; 25. Traction bar limit plate; 26. Photoelectric sensor; 27. Proximity switch; 3. Cargo hook release mechanism; 31. Motor; 32. Eccentric rotating plate; 33. Needle roller bearing; 4. Traction bar; 41. Spring fixing plate; 42. Tension spring; 43. Guide chamfer. Detailed Implementation

[0042] To further understand the content of this utility model, a detailed description of this utility model will be provided in conjunction with the accompanying drawings and embodiments.

[0043] Example 1

[0044] Combined with appendix Figure 1-4An AGV tail traction mechanism includes: a traction frame 2, fixedly mounted at the rear of the AGV body; a hook release mechanism 3, mounted on the traction frame 2; a traction bar 4, rotatably mounted on the traction frame 2 and capable of rotating between a locked position and a released position; and a shelf hook 1, mounted on the shelf to be tractioned. The traction frame 2 has a guide portion for guiding the shelf hook 1 into the traction frame 2. When the shelf hook 1 enters the traction frame 2 along the guide portion, it pushes the traction bar 4 from its initial position to the locked position to lock the shelf hook 1. When it is necessary to release the shelf hook 1, the hook release mechanism 3 actuates, driving the traction bar 4 to rotate to the release position to release the lock on the shelf hook 1. When the AGV reverses and approaches the shelf, the shelf hook 1 slides along the guide portion of the traction frame 2, contacts and pushes the traction bar 4 from its initial position (e.g., vertical position) to the locked position (e.g., horizontal position), causing the traction bar 4 to engage with the groove of the shelf hook 1 to achieve locking. When unhooking, the hook release mechanism 3 is activated (e.g., driven by motor 31), directly or indirectly pushing the traction rod 4 from the locked position to the release position (e.g., the tilt position), releasing the constraint on the shelf hook 1, and the AGV can move forward to detach from the shelf.

[0045] The traction frame 2 has an internal cavity, and the guide is an inclined guide plate extending outward from the entrance of the traction frame 2. During the AGV's reversing process, the shelf hook 1 contacts the inclined surface of the inclined guide plate and slides into the cavity along the inclined surface. The tilt angle guides the shelf hook 1 to automatically center, allowing it to smoothly reach below the traction rod 4, preparing for subsequent rotation of the traction rod 4.

[0046] Combined with appendix Figure 2 The traction frame 2 is equipped with a limiting assembly, which includes a limiting plate rotatably mounted on the traction frame 2. The limiting plate has a first position that restricts the rotation of the traction rod 4 and a second position that allows the traction rod 4 to rotate significantly. In the hooked state, the limiting plate is in the first position, physically preventing the traction rod 4 from rotating excessively; when unhooked, the limiting plate is driven to the second position, releasing the restriction on the traction rod 4, and the traction rod 4 can freely rotate to the release position under the pulling force of the shelf hook 1.

[0047] The limiting assembly also includes a torsion spring 24, one end of which acts on the traction frame 2 and the other end on the limiting plate, providing a restoring force for the limiting plate to return from the second position to the first position. When the limiting plate is pushed to the second position, the torsion spring 24 is torsion-stored; after disengagement, the driving force disappears, the torsion spring 24 releases its energy, driving the limiting plate to rotate back to the first position, preparing for the next engagement.

[0048] Combined with appendix Figure 4The traction rod 4 has spring fixing plates 41 on both sides. One end of the tension spring 42 is connected to the spring fixing plate 41, and the other end is connected to the traction frame 2, providing the traction rod 4 with a restoring force to return from the locked position to the initial position. When the shelf hook 1 enters, it pushes the traction rod 4 to rotate, and the tension spring 42 is stretched and stores energy. When the groove of the shelf hook 1 is aligned with the traction rod 4, the restoring force of the tension spring 42 pulls the traction rod 4 back and locks it into the groove.

[0049] The bottom of the traction rod 4 is provided with a guide chamfer 43 to facilitate the sliding of the shelf hook 1. When the shelf hook 1 contacts the traction rod 4, it slides along the inclined surface of the guide chamfer 43, generating a vertical component force to push the traction rod 4 to rotate, while the horizontal component force causes the shelf hook 1 to penetrate deeper, achieving smooth engagement.

[0050] Combined with appendix Figure 3 The cargo hook release mechanism 3 includes a drive motor 31, an eccentric rotating plate 32 driven by the drive motor 31, and a rolling bearing disposed at the end of the eccentric rotating plate 32. When the drive motor 31 starts, it drives the eccentric rotating plate 32 to rotate, and pushes the limiting plate from the first position to the second position through the rolling bearing. When the drive motor 31 starts, the output shaft drives the eccentric rotating plate 32 to rotate, and the rolling bearing at the end of the rotating plate contacts the limiting plate and rolls along its surface. The thrust generated by the eccentricity pushes the limiting plate from the first position to the second position.

[0051] The mechanism also includes a first sensing component, which comprises two photoelectric sensors 26, respectively disposed in the sensing areas corresponding to the first and second positions of the limiting plate, for detecting the position state of the limiting plate. The photoelectric sensors 26 are respectively installed at the sensing points of the limiting plate corresponding to the first and second positions; when the limiting plate rotates, it will block or expose the light path of the sensors, triggering an electrical signal to indicate the actual position of the limiting plate.

[0052] The mechanism also includes a second sensing component, which is a proximity switch 27 disposed in the bottom receiving cavity of the traction frame 2, used to detect whether the shelf hook 1 has entered a predetermined position. The proximity switch 27 is installed at the bottom of the receiving cavity, and when the shelf hook 1 (usually metal) reaches the predetermined position, it changes the electromagnetic field or optical characteristics of the switch to trigger a signal output.

[0053] The traction frame 2 is also equipped with a support rod 22 that supports the limiting plate. The support rod 22 is fixed to the traction frame 2 and works in conjunction with the rotating shaft of the limiting plate. When the limiting plate is subjected to thrust, the support rod 22 shares part of the load to ensure that the limiting plate rotates smoothly and does not deviate.

[0054] Working principle:

[0055] During operation, the AGV reverses and approaches the shelf. The shelf hook 1 enters the traction frame 2 along the inclined guide plate, pushing the traction rod 4 to rotate. When the center groove of the shelf hook 1 aligns with the traction rod 4, the traction rod 4 rebounds under the action of the tension spring 42, locking into the groove. Simultaneously, the proximity switch 27 detects that the shelf hook 1 is in position. Upon unhooking, the control system receives a command and starts the drive motor 31. The eccentric rotating plate 32 pushes the limit plate upright, releasing the restriction on the rotation angle of the traction rod 4. The AGV moves forward, and the shelf hook 1 pulls the traction rod 4 to rotate, allowing for smooth unhooking. After unhooking, the motor 31 reverses and resets, and the limit plate returns to its horizontal limit state under the action of the torsion spring 24.

[0056] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. An AGV tail traction mechanism, characterized in that, include: The traction frame is fixedly installed at the rear of the AGV body; A cargo hook release mechanism, which is mounted on the traction frame; A traction bar, rotatably mounted on the traction frame, and capable of rotating between a locked position and a released position; and Shelf hooks, which are installed on the shelves to be pulled; The traction frame is provided with a guide section for guiding the shelf hook into place; When the shelf hook enters the traction frame along the guide, it pushes the traction bar to rotate from the initial position to the locking position to lock the shelf hook. When it is necessary to release the shelf hook, the hook release mechanism is activated, driving the traction bar to rotate to the release position to release the lock on the shelf hook.

2. The AGV tail traction mechanism according to claim 1, characterized in that, The traction frame has an internal cavity, and the guide portion is an inclined guide plate extending outward from the entrance of the traction frame.

3. The AGV tail traction mechanism according to claim 2, characterized in that, The traction frame is provided with a limiting component, which includes a limiting plate rotatably disposed on the traction frame. The limiting plate has a first position that restricts the rotation of the traction rod and a second position that allows the traction rod to rotate significantly.

4. The AGV tail traction mechanism according to claim 3, characterized in that, The limiting assembly also includes a torsion spring, one end of which acts on the traction frame and the other end of which acts on the limiting plate, providing the limiting plate with a restoring force to return from the second position to the first position.

5. The AGV tail traction mechanism according to claim 1, characterized in that, Spring fixing plates are provided on both sides of the traction bar. One end of the tension spring is connected to the spring fixing plate, and the other end is connected to the traction frame, providing the traction bar with a restoring force to return from the locked position to the initial position.

6. The AGV tail traction mechanism according to claim 5, characterized in that, The bottom of the traction bar is provided with a guide chamfer to facilitate the sliding of the shelf hook.

7. An AGV tail traction mechanism according to claim 3, characterized in that, The cargo hook release mechanism includes a drive motor, an eccentric rotating plate driven by the drive motor, and a rolling bearing disposed at the end of the eccentric rotating plate; when the drive motor is started, it drives the eccentric rotating plate to rotate, and pushes the limiting plate from the first position to the second position through the rolling bearing.

8. An AGV tail traction mechanism according to claim 3, characterized in that, It also includes a first sensing component, which includes two photoelectric sensors, respectively disposed in the sensing areas corresponding to the first position and the second position of the limiting plate, for detecting the position state of the limiting plate.

9. An AGV tail traction mechanism according to claim 2, characterized in that, It also includes a second sensing component, which is a proximity switch disposed in the bottom receiving cavity of the traction frame, for detecting whether the shelf hook has entered a predetermined position.

10. An AGV tail traction mechanism according to claim 3, characterized in that, The traction frame is also provided with a support rod that supports the limiting plate.

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