Mounting device, tractor, and material transport system
By designing an automated loading device, the problem of manual loading and unloading between the tractor and the material car was solved, realizing automated operation, reducing costs and equipment damage, and improving transportation efficiency.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- HANGZHOU HIKROBOT TECH CO LTD
- Filing Date
- 2026-01-20
- Publication Date
- 2026-07-23
AI Technical Summary
In existing technologies, the loading and unloading of tractors and material cars requires manual operation, which results in high time and labor costs and is prone to equipment damage.
Design a mounting device including a mounting docking mechanism, a base, a docking buffer assembly, a guide and limit assembly, and an actuator drive assembly. The device detects the position of the material car through a sensing assembly and automatically controls the movement of the mounting actuator to achieve automatic mounting and unloading between the tractor and the material car.
It enables automatic loading and unloading between the tractor and the material car, reducing labor costs, improving efficiency, and reducing the risk of equipment damage.
Smart Images
Figure CN2026073569_23072026_PF_FP_ABST
Abstract
Description
Mounting equipment, tractor, material handling system Technical Field
[0001] This application relates to the field of material transport equipment, specifically to a mounting device, a tractor including the mounting device, and a material transport system including the tractor. Background Technology
[0002] Material handling systems typically consist of a tractor unit and material cars mounted on it. The tractor unit is generally an Automated Guided Vehicle (AGV) capable of omnidirectional movement. To enable loading and unloading between the tractor unit and the material cars, a mounting device needs to be installed on the tractor unit. Summary of the Invention
[0003] As a first aspect of the embodiments of this application, a mounting device is provided for a tractor. The mounting device includes a mounting docking mechanism and a base, the base being detachably mounted on the tractor. The mounting device further includes a docking buffer assembly. The mounting docking mechanism is connected to the base via the docking buffer assembly, allowing the mounting docking mechanism to move in at least one degree of freedom. The mounting docking mechanism includes a guide limiting assembly and a mounting execution mechanism. The guide limiting assembly defines a guide channel with an opening. The mounting execution mechanism includes a mounting actuator, an actuator driving assembly, and a sensing assembly. The sensing assembly sends a first control signal to the actuator driving assembly when it detects that a mounting mating component of a material vehicle enters the guide channel through the opening and reaches a set mounting position. The actuator driving assembly, upon receiving the first control signal, drives the mounting actuator into the guide channel, so that the mounting actuator engages with the mounting mating component to achieve mounting.
[0004] Optionally, the sensing component is further configured to send a second control signal to the actuator driving component when it detects that the mounting mating part has left the guide channel, and the actuator driving component is further configured to drive the mounting actuator to leave the guide channel upon receiving the second control signal, so as to release the mating between the mounting actuator and the mounting mating part.
[0005] Optionally, the docking buffer assembly includes a connecting shaft, multiple mounting connectors, multiple first buffers, and multiple mounting bases. The multiple mounting connectors are connected to the mounting docking mechanism, and the multiple mounting bases are connected to the base. Each mounting connector has a first shaft hole, and each mounting base has a second shaft hole. The axes of the multiple first shaft holes and the multiple second shaft holes are aligned. The connecting shaft passes through the multiple first shaft holes and the multiple second shaft holes, allowing the mounting connectors and the mounting bases to rotate relative to each other around the connecting shaft. The first buffers are disposed between the mounting docking mechanism and the base.
[0006] Optionally, the docking buffer assembly further includes a plurality of bushings corresponding one-to-one with the plurality of mounting connectors, the bushings being disposed in the first shaft hole of the corresponding mounting connectors, and the connecting shaft passing through the bushings.
[0007] Optionally, the guide limiting assembly includes an actuator mounting plate and multiple guide limiting plates, the multiple guide limiting plates and the actuator mounting plate forming the guide channel, the cross-sectional area of the opening of the guide channel being larger than the cross-sectional area of the interior of the guide channel; a first actuator through hole is formed on the actuator mounting plate, penetrating the actuator mounting plate along the thickness direction, the mounted actuator being able to pass through the first actuator through hole and enter the guide channel.
[0008] Optionally, the guide limiting plate includes a limiting plate portion and a guide plate portion. One end of the limiting plate portion is connected to the base through the docking buffer assembly, and the guide plate portion is disposed at the other end of the limiting plate portion, and there is an angle between the guide plate portion and the limiting plate portion.
[0009] Optionally, the plurality of guide limiting plates include a first guide limiting plate, a second guide limiting plate, and a third guide limiting plate, wherein the first guide limiting plate and the second guide limiting plate are disposed opposite to each other, and the actuator mounting plate is disposed opposite to the third guide limiting plate.
[0010] Optionally, the mounting device further includes at least one auxiliary limiting component and at least one guide plate buffer component, wherein the guide plate buffer component is correspondingly disposed with at least one of the first guide limiting plate and the second guide limiting plate; the guide plate buffer component is disposed on the outside of the corresponding guide limiting plate, and at least one auxiliary limiting component corresponds one-to-one with at least one guide plate buffer component; when the mounting fitting component does not engage with the mounting actuator, the auxiliary limiting component limits the corresponding guide limiting plate; when the mounting fitting component engages with the mounting actuator, the auxiliary limiting component releases the limiting effect on the corresponding guide limiting plate, so that the guide limiting plate can move under the action of the corresponding guide plate buffer component.
[0011] Optionally, the guide plate buffer assembly includes a buffer assembly mounting bracket, a pivot shaft, and a torsion spring. The buffer assembly mounting bracket is connected to the base via the docking buffer assembly and is located outside the corresponding guide limiting plate. The torsion spring is sleeved on the pivot shaft. One end of the pivot shaft is fixed to the actuation component mounting plate, and the other end of the pivot shaft is fixed to the corresponding buffer assembly mounting bracket. One torsion arm of the torsion spring abuts against the corresponding guide limiting plate, and the other torsion arm of the torsion spring is fixed to the corresponding buffer assembly mounting bracket.
[0012] Optionally, a second actuator through-hole is formed on the third guide limiting plate, extending through the third guide limiting plate along the thickness direction, and the second actuator through-hole is opposite to the first actuator through-hole; the mounting device further includes a pressure-bearing member, a portion of which is located on the outside of the third guide limiting plate and opposite to the second actuator through-hole; the auxiliary limiting component includes a limiting post and an elastic member; a limiting post hole is formed on the corresponding buffer component mounting bracket; the limiting post can pass through the limiting post hole; the axial direction of the limiting post is consistent with the movement direction of the mounting actuator; one end of the limiting post is connected to the elastic member; the elastic member is connected to the pressure-bearing member; when the pressure-bearing member is not subjected to external force, the limiting post protrudes from the corresponding buffer component mounting bracket.
[0013] Optionally, both the first guide limiting plate and the second guide limiting plate are provided with the guide plate buffer assembly. The pressure-bearing component includes a base plate, a first connecting plate, and a second connecting plate. The first connecting plate and the second connecting plate are respectively disposed at both ends of the base plate and are respectively connected to the buffer assembly mounting bracket corresponding to the first guide limiting plate and the buffer assembly mounting bracket corresponding to the second guide limiting plate. The base plate is opposite to the third guide limiting plate, and the elastic element is disposed on the base plate.
[0014] Optionally, the actuator drive assembly includes a drive assembly mounting bracket, a lead screw, and a lead screw drive motor. The lead screw and the lead screw drive motor are connected to the base via the drive assembly mounting bracket. The lead screw drive motor is used to drive the lead screw to move toward the guide channel when receiving the first control signal. The lead screw drive motor is also used to drive the lead screw to move toward the outside of the guide channel when receiving the second control signal.
[0015] Optionally, the actuator drive assembly further includes a mechanism connecting plate, at least one guide shaft, and a linear bearing that cooperates with the guide shaft. The linear bearing is disposed on the drive assembly mounting frame. The mechanism connecting plate is located on the side of the drive assembly mounting frame facing the guide channel. One end of the guide shaft and one end of the lead screw are both connected to the mechanism connecting plate. The other end of the guide shaft is inserted into the corresponding linear bearing. The mounted actuator is detachably connected to the mechanism connecting plate. When the lead screw drive motor drives the lead screw to move inward and outward toward the guide channel, the guide shaft, the mechanism connecting plate, and the mounted actuator move together with the lead screw.
[0016] As a second aspect of the present application, a tractor is provided, the tractor including a vehicle body and a mounting device disposed on the vehicle body, wherein the mounting device is the mounting device described in the first aspect of the present application.
[0017] As a third aspect of the present application, a material transport system is provided, the material transport system including a tractor and a material car with a mounting fitting, wherein the tractor is the tractor described in the second aspect of the present application, and the mounting fitting can enter the guide channel and cooperate with the mounting actuator.
[0018] After the mounting device is installed on the tractor, the docking buffer assembly enables a flexible connection between the mounting docking mechanism and the tractor. Therefore, during the mounting process between the tractor and the material car, the mounting docking mechanism can move within a small range, making it easier for the mounting fittings of the material car to dock with the mounting actuators of the mounting device, and preventing damage to the tractor and the material car.
[0019] In addition, the sensing component can trigger the actuator drive component to drive the mounting actuator into the guide channel and cooperate with the mounting component when the mounting mating part is in place, thereby completing the automatic mounting of the tractor and the material car and improving the mounting efficiency. Upon receiving a second control signal, the actuator drive component can drive the mounting actuator away from the guide channel to release the cooperation between the mounting actuator and the mounting mating part, completing the automatic unloading of the tractor and the material car. Attached Figure Description
[0020] The embodiments of this application will be further described below with reference to the accompanying drawings.
[0021] Figure 1 is a three-dimensional structural schematic diagram of the mounting device provided in one embodiment of this application, wherein the mounting actuator has been inserted into the guide channel.
[0022] Figure 2 is a three-dimensional structural schematic diagram of the mounting device provided in one embodiment of this application, wherein the mounting actuator is not inserted into the guide channel.
[0023] Figure 3 is a cross-sectional schematic diagram of a mounting device provided in one embodiment of this application, wherein the mounting actuator is not inserted into the guide channel.
[0024] Figure 4 is a cross-sectional schematic diagram of a mounting device provided in one embodiment of this application, wherein the mounting actuator has been inserted into the guide channel.
[0025] Figure 5 is a perspective view of the mounting device and the mounting fitting of the material car provided in one embodiment of this application.
[0026] Figure 6 is a top view of the mounting device provided in one embodiment of this application in conjunction with the mounting fitting of the material cart.
[0027] Figure 7 is a cross-sectional schematic diagram showing the state of the mounting device and the mounting fitting of the material car provided in one embodiment of this application.
[0028] Figure 8 is a structural schematic diagram of a pressure-bearing component provided in one embodiment of this application.
[0029] Figure 9 is a schematic diagram of the structure of an auxiliary limiting component provided in one embodiment of this application.
[0030] Reference numerals: 100: Mounting actuator; 110: Mounting actuator; 130: Sensing component; 120: Actuator drive component; 121: Lead screw; 122: Lead screw drive motor; 123: Mechanism connecting plate; 124: Guide shaft; 125: Linear bearing; 126: Drive component mounting bracket; 1261: Lug; 127: Proximity sensor; 200: Base; 2001: Boss; 300: Docking buffer component; 310: Connecting shaft; 320: Mounting connector; 330: First buffer component; 340: Mounting base. Component 350: Bushing; 400: Guide channel; 410: First guide limit plate; 420: Second guide limit plate; 430: Third guide limit plate; 440: Actuator assembly mounting plate; 500: Auxiliary limit assembly; 510: Limit post; 520: Elastic element; 530: Auxiliary connecting plate; 600: Guide plate buffer assembly; 610: Buffer assembly mounting bracket; 620: Pivot shaft; 630: Torsion spring; 700: Pressure bearing element; 710: First connecting plate; 720: Second connecting plate; 730: Base plate; 800: Mounting mating part. Detailed Implementation
[0031] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments in the detailed description are intended to explain this application and should not be construed as limiting this application.
[0032] The terms "an embodiment," "example," or "example" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this application. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.
[0033] Loading and unloading devices typically require manual operation, resulting in high time and labor costs. Therefore, there is a need for a loading device that enables automatic loading and unloading between tractor vehicles and material cars.
[0034] In view of this, embodiments of this application provide a mounting device, a tractor including the mounting device, and a material transport system including the tractor.
[0035] As a first aspect of this application, a mounting device is provided for a tractor unit. As shown in Figures 1 to 4, the mounting device includes a mounting docking mechanism and a base 200, the base 200 being detachably mounted on the tractor unit. The mounting device further includes a docking buffer assembly 300, through which the mounting docking mechanism is connected to the base 200, allowing the mounting docking mechanism to move in at least one degree of freedom. The mounting docking mechanism includes a guide limiting assembly and a mounting actuator 100. The guide limiting assembly defines a guide channel 400 with an opening.
[0036] The mounting actuator 100 includes a mounting actuator 110, an actuator drive assembly 120, and a sensing assembly 130. The sensing assembly 130 sends a first control signal to the actuator drive assembly 120 when it detects that the mounting mating part 800 of the material cart has entered the guide channel 400 through the opening and reached the set mounting position. Upon receiving the first control signal, the actuator drive assembly 120 drives the mounting actuator 110 into the guide channel 400, so that the mounting actuator 110 cooperates with the mounting mating part 800 to achieve mounting.
[0037] After the mounting device is installed on the tractor, the docking buffer assembly 300 achieves a flexible connection between the mounting docking mechanism and the tractor. Therefore, during the mounting process between the tractor and the material car (i.e., as shown in Figures 5, 6, and 7, the mounting mating part 800 of the material car engages with the mounting actuator 110), the mounting docking mechanism can move within a small range, making it easier for the mounting mating part 800 of the material car to dock with the mounting actuator 110 of the mounting device, and preventing damage to the tractor and the material car.
[0038] In addition, when the mounting assembly 800 is in place, the sensing component 130 can trigger the actuator drive component 120 to drive the mounting actuator 110 into the guide channel 400 and cooperate with the mounting assembly 800, thereby completing the automatic mounting of the tractor and the material car and improving the mounting efficiency.
[0039] The sensing component 130 is also used to send a second control signal to the actuator drive component 120 when it detects that the mounting mating part 800 has left the guide channel 400. The actuator drive component 120 can also drive the mounting actuator 110 to leave the guide channel 400 when it receives the second control signal, so as to release the mating between the mounting actuator 110 and the mounting mating part 800, thereby completing the automatic unloading of the material car from the tractor.
[0040] It should be noted that in the embodiments shown in Figures 1 and 4, the mounting actuator 110 is inserted into the guide channel 400, while in the embodiments shown in Figures 2 and 3, the mounting actuator 110 is not inserted into the guide channel 400.
[0041] In this embodiment, the source of the "second control signal" is not specifically limited. For example, the second control signal can be generated and issued by the main control unit of the tractor. As another example, the second control signal can also be generated and issued by a material transfer platform.
[0042] In this embodiment, the specific structure of the docking buffer assembly 300 is not specifically limited, as long as it enables the mounting docking mechanism to move in at least one degree of freedom and achieves a soft connection between the mounting docking mechanism and the tractor. It should be noted that the docking buffer assembly 300 should also ensure that the mounting docking mechanism does not undergo excessive displacement or misalignment, which will be described in detail below.
[0043] In this embodiment, the requirement of "at least one degree of freedom" is not specifically limited, as long as the mounting and docking mechanism can move under the action of external forces. Typically, an object has six degrees of freedom in space; similarly, the mounting and docking mechanism also has six degrees of freedom. During the docking process, situations often arise where the mounting mating part 800 and the guide channel 400 cannot align in the left-right direction. Accordingly, the mounting and docking mechanism must be able to move at least in the "left-right direction" (i.e., the x-axis or y-axis), for example, by rotating left or right.
[0044] As an optional implementation, as shown in Figures 3 and 4, the docking buffer assembly 300 includes a connecting shaft 310, a plurality of mounting connectors 320, a plurality of first buffers 330, and a plurality of mounting bases 340. The plurality of mounting connectors 320 are connected to the mounting docking mechanism, and the plurality of mounting bases 340 are connected to the base 200.
[0045] The mounting connector 320 has a first shaft hole, and the mounting base 340 has a second shaft hole. The axes of the plurality of first shaft holes and the plurality of second shaft holes are aligned. The connecting shaft 310 passes through the plurality of first shaft holes and the plurality of second shaft holes, so that the mounting connector 320 and the mounting base 340 can rotate relative to each other around the connecting shaft 310.
[0046] The first buffer 330 is disposed between the mounting docking mechanism and the base 200.
[0047] As an alternative implementation, the connecting shaft 310 can be a pin. As an alternative implementation, the first buffer 330 can be a spring.
[0048] By setting the first buffer 330, the mounting docking mechanism can approach or move away from the mounting surface of the tractor within a certain range, thereby achieving a soft connection of the mounting docking mechanism to a certain extent, while ensuring that the mounting docking mechanism will not undergo excessive displacement or misalignment.
[0049] Optionally, the docking buffer assembly 300 may also include a plurality of bushings 350 corresponding one-to-one with a plurality of mounting connectors 320, the bushings 350 being disposed in the first shaft holes of the respective mounting connectors 320, and the connecting shaft 310 passing through the bushings 350.
[0050] By installing bushing 350, the impact force generated during the movement of the tractor or during the loading of the tractor and the material car can be absorbed.
[0051] In this embodiment, the shape and structure of the guide channel 400 are not specifically limited. To better guide the mounting component 800, optionally, the cross-sectional area of the opening of the guide channel 400 is larger than the cross-sectional area of the interior of the guide channel 400. That is, the guide channel 400 is approximately "trumpet-shaped".
[0052] In this embodiment of the application, the guide limiting component includes an execution component mounting plate 440 and a plurality of guide limiting plates, the plurality of guide limiting plates and the execution component mounting plate 440 forming the guide channel 400.
[0053] The execution component mounting plate 440 has a first execution component through hole that extends through the execution component mounting plate 440 in the thickness direction, and the mounted execution component 110 can pass through the first execution component through hole and enter the guide channel 400.
[0054] When installing the guide limit assembly, the guide limit plate and the actuator mounting plate 440 can be installed separately, thereby reducing the assembly difficulty.
[0055] As described above, the guide channel 400 is roughly "trumpet-shaped". As an optional embodiment, the guide limiting plate includes a limiting plate portion and a guide plate portion. One end of the limiting plate portion is connected to the base 200 through a docking buffer assembly 300, and the guide plate portion is disposed at the other end of the limiting plate portion, with an angle between the guide plate portion and the limiting plate portion.
[0056] In this embodiment, the number of guide limiting plates is not specifically limited. For ease of installation, optionally, the plurality of guide limiting plates include a first guide limiting plate 410, a second guide limiting plate 420, and a third guide limiting plate 430, with the first guide limiting plate 410 and the second guide limiting plate 420 disposed opposite to each other, and the execution component mounting plate 440 and the third guide limiting plate 430 disposed opposite to each other.
[0057] The mounting device also includes at least one auxiliary limiting component 500 and at least one guide plate buffer component 600.
[0058] The guide plate buffer assembly 600 is configured to correspond to at least one of the first guide limiting plate 410 and the second guide limiting plate 420.
[0059] The guide plate buffer assembly 600 is disposed on the outside of the corresponding guide limit plate, and at least one auxiliary limit assembly 500 corresponds to at least one guide plate buffer assembly 600.
[0060] When the mounting assembly 800 does not engage with the mounting actuator 110, the auxiliary limiting assembly 500 limits the corresponding guide limiting plate to ensure smooth mounting.
[0061] When the mounting fitting 800 and the mounting actuator 110 are engaged, the auxiliary limiting component 500 releases its limiting effect on the corresponding guide limiting plate, so that the guide limiting plate can move under the action of the corresponding guide plate buffer component 600. This allows the guide limiting plate to move slightly during the turning of the tractor, preventing damage to the mounting fitting 800 and the mounting actuator 110.
[0062] As an optional implementation, the guide plate buffer assembly 600 may include a buffer assembly mounting bracket 610, a pivot shaft 620, and a torsion spring 630. The buffer assembly mounting bracket 610 is connected to the base 200 via a mating buffer assembly 300 and is located outside the corresponding guide limiting plate. The torsion spring 630 is sleeved on the pivot shaft 620. One end of the pivot shaft 620 is fixed to the actuator mounting plate 440, and the other end of the pivot shaft 620 is fixed to the corresponding buffer assembly mounting bracket 610. One torsion arm of the torsion spring 630 abuts against the corresponding guide limiting plate, and the other torsion arm of the torsion spring 630 is fixed to the corresponding buffer assembly mounting bracket 610.
[0063] By setting the torsion spring 630, the guide limit plate can be buffered and reset.
[0064] As an optional implementation, guide plate buffer assemblies 600 can be provided on the outer side of the first guide limiting plate 410 and the outer side of the second guide limiting plate 420.
[0065] In this embodiment, the specific structure of the auxiliary limiting component 500 is not specifically limited. As an optional implementation, a second execution component through hole is formed on the third guide limiting plate 430, which extends through the third guide limiting plate 430 along the thickness direction, and the second execution component through hole is opposite to the first execution component through hole.
[0066] The mounting device also includes a pressure-bearing component 700, a portion of which is located outside the third guide limiting plate 430 and opposite to the through hole of the second actuation component.
[0067] As shown in Figure 9, the auxiliary limiting component 500 includes a limiting post 510 and an elastic element 520. A limiting post hole is formed on the corresponding buffer component mounting bracket 610. The limiting post 510 can pass through the limiting post hole, and the axial direction of the limiting post 510 is consistent with the movement direction of the mounting actuator 110. One end of the limiting post 510 is connected to the elastic element 520, and the elastic element 520 is connected to the pressure bearing component 700. When the pressure bearing component 700 is not subjected to external force, the limiting post 510 protrudes out of the corresponding buffer component mounting bracket 610.
[0068] In this embodiment, when the mounting actuator 110 is not in contact with the pressure-bearing member 700, the limiting post 510 protrudes from the corresponding buffer assembly mounting bracket 610. As the mounting actuator 110 moves further (in the embodiments shown in Figures 3 and 4, the mounting actuator 110 moves downward), the mounting actuator 110 passes through the second actuator through-hole, applies pressure to the pressure-bearing member 700, and drives the limiting post 510 to move downward against the elastic force of the elastic member 520. The above structure ensures that the limiting post 510 protrudes from the buffer assembly mounting bracket 610 during the mounting process, limiting the guide limiting plate, and that after the mounting is completed, the limiting post 510 does not protrude from the buffer assembly mounting bracket 610, releasing the limitation on the guide limiting plate.
[0069] As an optional implementation, both the first guide limiting plate 410 and the second guide limiting plate 420 are provided with guide plate buffer components 600. In this way, the auxiliary limiting component 500 may also include an auxiliary connecting plate 530 that connects the two buffer component mounting brackets 610.
[0070] In this embodiment, the structure of the pressure-bearing component 700 is not specifically limited. As an optional implementation, as shown in FIG8, the pressure-bearing component 700 is generally U-shaped. That is, the pressure-bearing component 700 may include a base plate 730, a first connecting plate 710, and a second connecting plate 720. The first connecting plate 710 and the second connecting plate 720 are respectively disposed at both ends of the base plate 730 and are respectively connected to the buffer assembly mounting bracket 610 corresponding to the first guide limiting plate 410 and the buffer assembly mounting bracket 610 corresponding to the second guide limiting plate 420. The base plate 730 is opposite to the third guide limiting plate 430, and the elastic element 520 is disposed on the base plate 730.
[0071] In this embodiment, the specific structure of the actuator drive assembly 120 is not specifically limited. Optionally, the actuator drive assembly 120 includes a lead screw 121, a lead screw drive motor 122, and a drive assembly mounting bracket 126. The lead screw 121 and the lead screw drive motor 122 are connected to the base 200 via the drive assembly mounting bracket 126. Multiple mounting connectors 320 can be connected to the drive assembly mounting bracket 126. The lead screw drive motor 122 is used to drive the lead screw 121 to move inward toward the guide channel 400 upon receiving the first control signal, ultimately achieving the mounting of the tractor and the material car. Furthermore, the lead screw drive motor 122 is also used to drive the lead screw 121 to move outward toward the guide channel 400 upon receiving the second control signal, ultimately achieving the unloading of the material car from the tractor.
[0072] As an alternative implementation, the drive component mounting bracket 126 may include a vertically arranged first mounting bracket and a horizontally arranged second mounting bracket, with the second mounting bracket fixedly connected to the first mounting bracket.
[0073] To ensure the stability of the lead screw 121, the actuator drive assembly 120 may optionally include a mechanism connecting plate 123, at least one guide shaft 124, and a linear bearing 125 cooperating with the guide shaft 124. The linear bearing 125 is mounted on the drive assembly mounting bracket 126 (e.g., a second mounting bracket). The mechanism connecting plate 123 is located on the side of the drive assembly mounting bracket 126 (e.g., a first mounting bracket) facing the guide channel 400. One end of the guide shaft 124 and one end of the lead screw 121 are connected to the mechanism connecting plate 123, and the other end of the guide shaft 124 is inserted into the corresponding linear bearing 125. The actuator 110 is detachably connected to the mechanism connecting plate 123, for example, by fasteners (such as screws). When the lead screw drive motor 122 drives the lead screw 121 to move inward or outward (e.g., up and down) toward the guide channel 400, the guide shaft 124, the mechanism connecting plate 123, and the actuator 110 move together with the lead screw 121.
[0074] As mentioned earlier, during the docking process, the mounting mating component 800 and the guide channel 400 may not align in the left-right direction. By setting the docking buffer component 300, the mounting docking mechanism can move at least in the left-right direction. To ensure that the mounting docking mechanism does not experience excessive displacement or misalignment, in addition to the first buffer component 330 as described above, lugs 1261 protruding towards the base 200 are provided on both sides (e.g., the left and right sides) of the drive component mounting bracket 126 (e.g., the first mounting bracket), and bosses 2001 are provided on the base 200 at positions corresponding to the lugs 1261. When the mounting docking mechanism (which can be the drive component mounting bracket 126) moves left and right and reaches a certain range, the lugs can abut against the bosses, thereby further limiting the movement of the mounting docking mechanism. It should be noted that although Figures 1 and 2 show that three bosses 2001 are provided on each side of the base 200, the number of bosses is not limited in this embodiment.
[0075] As an optional implementation, a proximity sensor 127 may be mounted on the drive assembly mounting bracket 126 to detect the position of the mechanism connecting plate 123. There may be two proximity sensors 127, with the two sensors corresponding to the highest and lowest positions of the mechanism connecting plate 123, respectively.
[0076] As an optional implementation, a buffer pad is provided in the guide channel opposite to the opening of the guide channel.
[0077] In this embodiment, the specific structure of the sensing component 130 is not specifically limited. Optionally, the sensing component 130 may include a photoelectric sensor.
[0078] The docking process between the mounting actuator 110 of the mounting device and the mounting mating part 800 of the material cart in this embodiment of the application is described below.
[0079] When the mounting actuator 110 of the mounting device is not connected with the mounting mating part 800 of the material car, the lead screw drive motor 122 pulls the mechanism connecting plate 123 and the mounting actuator 110 to the highest position. The first guide limit plate 410 and the second guide limit plate 420 are pressed inward under the action of the torsion spring 630, and the limit post 510 is pushed upward under the action of the elastic member 520. The limit post 510 protrudes out of the corresponding buffer component mounting bracket 610, thereby limiting the first guide limit plate 410 and the second guide limit plate 420. When the mounting actuator 110 of the mounting device mates with the mounting mating part 800 of the material cart, the first guide limit plate 410 and the second guide limit plate 420 act as guides. The mounting mating part 800 moves along the first guide limit plate 410 and the second guide limit plate 420 into the guide channel 400. When the sensing component 130 detects the mounting mating part 800, the lead screw drive motor 122 drives the mechanism connecting plate 123 and the mounting actuator 110 to move downward to the lowest position. When the proximity sensor... After the device 127 detects the connecting plate 123, the lead screw drive motor 122 stops. At this time, the mounting actuator 110 has passed through the mounting mating part 800. The mounting actuator 110 applies pressure to the bearing part 700 and drives the limiting post 510 to move downward against the elastic force of the elastic part 520, so that the limiting post 510 does not protrude from the buffer assembly mounting bracket 610, thereby releasing the restriction on the first guide limiting plate 410 and the second guide limiting plate 420, facilitating the tractor to perform turning and other operations. Thus, the docking process between the mounting actuator 110 of the mounting device and the mounting mating part 800 of the material car is completed.
[0080] As a second aspect of the present application, a tractor unit is provided, the tractor unit including a vehicle body and a mounting device disposed on the vehicle body, wherein the mounting device is the mounting device provided in the first aspect of the present application.
[0081] As a third aspect of the present application, a material transport system is provided, the material transport system including a tractor and a material car with a mounting fitting 800, wherein the tractor is the tractor provided in the second aspect of the present application, and the mounting fitting can enter the guide channel 400 and cooperate with the mounting actuator 110.
[0082] After the mounting device is installed on the tractor, the docking buffer assembly 300 achieves a flexible connection between the mounting docking mechanism and the tractor. Therefore, during the mounting process between the tractor and the material car (i.e., the mounting mating part 800 of the material car mates with the mounting actuator 110), the mounting docking mechanism can move within a small range, making it easier for the mounting mating part 800 of the material car to dock with the mounting actuator 110 of the mounting device, and preventing damage to the tractor and the material car.
[0083] In addition, when the mounting component 800 is in place, the sensing component 130 can trigger the actuator drive component 120 to drive the mounting actuator 110 into the guide channel 400 and cooperate with the mounting component 800, thereby completing the automatic mounting of the tractor and the material car and improving the mounting efficiency.
[0084] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Those skilled in the art should understand that this application includes, but is not limited to, the content described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this application will be included within the scope of the claims.
Claims
A mounting device for a tractor unit, the mounting device comprising a mounting docking mechanism and a base (200), the base (200) being detachably mounted on the tractor unit, characterized in that, The mounting device further includes a docking buffer assembly (300), and the mounting docking mechanism is connected to the base (200) through the docking buffer assembly (300) so that the mounting docking mechanism can move in at least one degree of freedom. The mounting docking mechanism includes a guide and limit assembly and a mounting actuator (100). The guide limiting component defines a guide channel (400) with an opening. The mounting actuator (100) includes a mounting actuator (110), an actuator drive assembly (120), and a sensing assembly (130). The sensing assembly (130) is used to send a first control signal to the actuator drive assembly (120) when it detects that the mounting mating part (800) of the material cart enters the guide channel (400) through the opening and reaches the set mounting position. The actuator drive assembly (120) is used to drive the mounting actuator (110) into the guide channel (400) when it receives the first control signal, so that the mounting actuator (110) cooperates with the mounting mating part (800) to achieve mounting. The mounting device according to claim 1 is characterized in that, The sensing component (130) is further configured to send a second control signal to the actuator drive component (120) when it detects that the mounting mating part (800) has left the guide channel (400). The actuator drive component (120) is further configured to drive the mounting actuator (110) to leave the guide channel (400) upon receiving the second control signal, so as to release the mating between the mounting actuator (110) and the mounting mating part (800). The mounting device according to claim 1 or 2 is characterized in that, The docking buffer assembly (300) includes a connecting shaft (310), a plurality of mounting connectors (320), a plurality of first buffers (330), and a plurality of mounting bases (340). The plurality of mounting connectors (320) are connected to the mounting docking mechanism, and the plurality of mounting bases (340) are connected to the base (200). The mounting connector (320) has a first shaft hole, and the mounting base (340) has a second shaft hole. The axes of the plurality of first shaft holes and the plurality of second shaft holes are aligned. The connecting shaft (310) passes through the plurality of first shaft holes and the plurality of second shaft holes, so that the mounting connector (320) and the mounting base (340) can rotate relative to each other around the connecting shaft (310). The first buffer (330) is disposed between the mounting docking mechanism and the base (200). The mounting device according to claim 3 is characterized in that, The docking buffer assembly (300) also includes a plurality of bushings (350) corresponding one-to-one with the plurality of mounting connectors (320), the bushings (350) being disposed in the first shaft hole of the corresponding mounting connectors (320), and the connecting shaft (310) passing through the bushings (350). The mounting device according to any one of claims 1 to 4 is characterized in that, The guide limiting component includes an actuator mounting plate (440) and a plurality of guide limiting plates. The plurality of guide limiting plates and the actuator mounting plate (440) form a guide channel (400). The cross-sectional area of the opening of the guide channel (400) is larger than the cross-sectional area of the interior of the guide channel. The actuator mounting plate (440) has a first actuator through hole that extends through the actuator mounting plate (440) in the thickness direction, and the mounted actuator (110) can pass through the first actuator through hole and enter the guide channel (400). The mounting device according to claim 5 is characterized in that, The guide plate includes a limiting plate portion and a guide plate portion. One end of the limiting plate portion is connected to the base (200) through the docking buffer assembly (300). The guide plate portion is disposed at the other end of the limiting plate portion, and there is an angle between the guide plate portion and the limiting plate portion. The mounting device according to claim 5 or 6 is characterized in that, The plurality of guide limiting plates include a first guide limiting plate (410), a second guide limiting plate (420) and a third guide limiting plate (430), wherein the first guide limiting plate (410) is disposed opposite to the second guide limiting plate (420), and the execution component mounting plate (440) is disposed opposite to the third guide limiting plate (430). The mounting device according to claim 7 is characterized in that, The mounting device further includes at least one auxiliary limiting component (500) and at least one guide plate buffer component (600), wherein the guide plate buffer component (600) is configured to correspond to at least one of the first guide limiting plate (410) and the second guide limiting plate (420); The guide plate buffer assembly (600) is disposed on the outside of at least one of the first guide limiting plate (410) and the second guide limiting plate (420), and at least one of the auxiliary limiting assemblies (500) corresponds to at least one of the guide plate buffer assemblies (600); When the mounting fitting (800) is not engaged with the mounting actuator (110), the auxiliary limiting component (500) limits at least one of the first guide limiting plate (410) and the second guide limiting plate (420). When the mounting fitting (800) is engaged with the mounting actuator (110), the auxiliary limiting component (500) releases the limiting effect on at least one of the first guide limiting plate (410) and the second guide limiting plate (420), so that at least one of the first guide limiting plate (410) and the second guide limiting plate (420) can move under the action of the corresponding guide plate buffer component (600). The mounting device according to claim 8 is characterized in that, The guide plate buffer assembly (600) includes a buffer assembly mounting bracket (610), a pivot shaft (620), and a torsion spring (630). The buffer assembly mounting bracket (610) is connected to the base (200) via the docking buffer assembly (300) and is located outside at least one of the first guide limiting plate (410) and the second guide limiting plate (420). The torsion spring (630) is sleeved on the pivot shaft (620), one end of the pivot shaft (620) is fixed on the actuator mounting plate (440), and the other end of the pivot shaft (620) is fixed on the corresponding buffer assembly mounting bracket (610). One end of the torsion spring (630) abuts against at least one of the first guide limiting plate (410) and the second guide limiting plate (420), and the other end of the torsion spring (630) is fixed on the corresponding buffer assembly mounting bracket (610). The mounting device according to claim 9 is characterized in that, A second execution component through hole is formed on the third guide limiting plate (430) and extends through the third guide limiting plate (430) along the thickness direction. The second execution component through hole is opposite to the first execution component through hole. The mounting device also includes a pressure-bearing component (700), a portion of which is located outside the third guide limiting plate (430) and opposite to the through hole of the second actuation component. The auxiliary limiting component (500) includes a limiting post (510) and an elastic element (520). A limiting post hole is formed on the corresponding buffer component mounting bracket (610). The limiting post (510) can pass through the limiting post hole, and the axial direction of the limiting post (510) is consistent with the movement direction of the mounting actuator (110). One end of the limiting post (510) is connected to the elastic element (520), and the elastic element (520) is connected to the pressure bearing member (700). When the pressure bearing member (700) is not subjected to external force, the limiting post (510) protrudes out of the corresponding buffer component mounting bracket (610). The mounting device according to claim 10 is characterized in that, Both the first guide limiting plate (410) and the second guide limiting plate (420) are respectively provided with the guide plate buffer assembly (600). The pressure-bearing component (700) includes a base plate (730), a first connecting plate (710), and a second connecting plate (720). The first connecting plate (710) and the second connecting plate (720) are respectively disposed at both ends of the base plate (730) and are respectively connected to the buffer component mounting bracket (610) corresponding to the first guide limiting plate (410) and the buffer component mounting bracket (610) corresponding to the second guide limiting plate (420). The base plate (730) is opposite to the third guide limiting plate (430), and the elastic element (520) is disposed on the base plate (730). The mounting device according to any one of claims 1 to 11 is characterized in that, The actuator drive assembly (120) includes a drive assembly mounting bracket (126), a lead screw (121), and a lead screw drive motor (122). The lead screw (121) and the lead screw drive motor (122) are connected to the base (200) via the drive assembly mounting bracket (126). The lead screw drive motor (122) is used to drive the lead screw (121) to move toward the guide channel (400) when the first control signal is received. The lead screw drive motor (122) is also used to drive the lead screw (121) to move toward the outside of the guide channel (400) when the second control signal is received. The mounting device according to claim 12 is characterized in that, The actuator drive assembly (120) further includes a mechanism connecting plate (123), at least one guide shaft (124), and a linear bearing (125) cooperating with the guide shaft (124). The linear bearing (125) is mounted on the drive assembly mounting bracket (126). The mechanism connecting plate (123) is located on the side of the drive assembly mounting bracket (126) facing the guide channel (400). One end of the guide shaft (124) and one end of the lead screw (121) are both connected to the mechanism connecting plate (123), and the other end of the guide shaft (124) is inserted into the corresponding linear bearing (125). The mounting actuator (110) is detachably connected to the mechanism connecting plate (123). When the lead screw drive motor (122) drives the lead screw (121) to move inward and outward toward the guide channel (400), the guide shaft (124), the mechanism connecting plate (123), and the mounting actuator (110) move together with the lead screw (121). A tractor unit, comprising a vehicle body and a mounting device disposed on the vehicle body, characterized in that, The mounting device is the mounting device described in any one of claims 1 to 13. A material transport system comprising a tractor and a material car with a mounting bracket (800), characterized in that, The tractor is the tractor as described in claim 14, and the mounting fitting (800) can enter the guide channel (400) and cooperate with the mounting actuator (110).