CN112549876B - Double-vehicle linkage connecting mechanism and AGV - Google Patents
Double-vehicle linkage connecting mechanism and AGVDownload PDFInfo
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- CN112549876B CN112549876BCN202110188696.5ACN202110188696ACN112549876BCN 112549876 BCN112549876 BCN 112549876BCN 202110188696 ACN202110188696 ACN 202110188696ACN 112549876 BCN112549876 BCN 112549876B
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- 238000003780insertionMethods0.000claimsdescription6
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- 239000000178monomerSubstances0.000abstractdescription8
- 230000008878couplingEffects0.000abstractdescription5
- 238000010168coupling processMethods0.000abstractdescription5
- 238000005859coupling reactionMethods0.000abstractdescription5
- 230000000694effectsEffects0.000abstractdescription4
- 238000001514detection methodMethods0.000description15
- 238000005034decorationMethods0.000description2
- 238000012986modificationMethods0.000description2
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- 238000003032molecular dockingMethods0.000description2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/01—Traction couplings or hitches characterised by their type
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Seats For Vehicles (AREA)
Abstract
Description
Technical Field
The invention relates to the technical field of AGV (automatic guided vehicle) structures, in particular to a double-vehicle linkage connecting mechanism and an AGV.
Background
AGV cars are currently increasingly popular in automated workshops. In some application scenarios, two single AGV cars need to be linked, so that the two single AGV cars move synchronously, and the use requirements are met. The connecting structure for double-vehicle linkage is a non-standard structure, and in order to guarantee the linkage using effect of double vehicles, the applicant innovates the structure.
Disclosure of Invention
An object of this application provides a two car linkage coupling mechanism and AGV car to can realize that two monomer AGV cars can be quick, firm connection.
In order to achieve the aim of the invention, the invention provides a double-vehicle linkage connecting mechanism,
comprises a male connector and a female connector which are matched with each other,
the male connecting seat and the female connecting seat are respectively connected on two single AGV,
the male connector connecting seat comprises a first mounting frame, an inserting block is arranged on the end surface of the first mounting frame,
the female head connecting seat comprises a second mounting frame, a slot is arranged on the end surface of the second mounting frame,
the insert block is inserted into the slot and locked by the locking mechanism.
Wherein,
the locking mechanism comprises a transverse pin shaft capable of extending out and retracting from two outer side walls of the insertion block and a transverse groove which is arranged on the inner side wall of the slot and is matched with the transverse pin shaft for use.
Wherein,
the locking mechanism further comprises a hydraulic cylinder capable of driving the transverse pin shaft to move transversely.
Wherein,
the pneumatic cylinder is 1, just the piston rod and the tail end of pneumatic cylinder are equallyd divide and are connected with horizontal round pin axle, through the flexible horizontal round pin axle lateral shifting that drives both sides of pneumatic cylinder.
Wherein,
the first mounting frame is in a U-shaped groove shape, the inserting block is arranged in the U-shaped groove and comprises a first U-shaped plate and two first side end blocks arranged on two sides of the first U-shaped plate;
a hydraulic cylinder is arranged between the two first side end blocks, and the transverse pin shafts on the two sides respectively penetrate through the first side end blocks on the two sides and are in sliding connection;
sensor grooves are formed in the end faces of the two first side end blocks, and a control mechanism for controlling the transverse telescopic distance of the hydraulic cylinder is arranged in each sensor groove;
the outer side surfaces of the two first side end blocks are inclined planes.
Wherein,
the second mounting rack is in a U-shaped groove shape, two sides of the U-shaped groove are respectively provided with a second side end block,
the inner side surfaces of the two second side end blocks are inclined surfaces and are matched with the outer side surface of the first side end block for use, and transverse grooves are formed in the inner side surfaces of the second side end blocks.
Wherein,
two side ends of the second mounting rack are respectively provided with a position adjusting sensor,
correspondingly, a first reflection block and a second reflection block are respectively arranged at the two side ends of the first mounting frame,
the reflecting surface of the first reflecting block is a plane, and the distance between the male connector and the female connector is adjusted by matching the first reflecting block with a position adjusting sensor;
the reflecting surface of the second reflecting block is an inclined surface which inclines up and down, and the height of the male connector connecting seat and the height of the female connector connecting seat are adjusted by matching the second reflecting block with a position adjusting sensor;
the two outer side walls of the inserting block are inclined planes, the shape of the inserting block is a structure with a narrow front part and a wide back part,
the two inner side walls of the slot are inclined planes, and the shape of the slot is a structure with a wide front part and a narrow back part.
Wherein,
a first manual bolt seat and a fourth manual bolt seat are respectively arranged at two sides of the first mounting frame,
a second manual bolt seat and a third manual bolt seat are respectively arranged at the two sides of the second mounting rack,
the first manual bolt seat and the second manual bolt seat are connected through a longitudinal bolt, and the third manual bolt seat and the fourth manual bolt seat are connected through a longitudinal bolt.
Correspondingly, this application still provides an AGV car, including two monomer AGV cars, two monomer AGV cars pass through any one in the above-mentioned scheme two car linkage coupling mechanism connect.
Compared with the prior art, the double-vehicle linkage connecting mechanism has the advantages that the double-vehicle linkage connecting mechanism can realize quick and firm connection of two single AGV vehicles, and the effect is good.
Drawings
FIG. 1 is a schematic structural view of a dual-vehicle linkage connection mechanism according to the present application;
FIG. 2 is a first schematic view of a male connector housing according to the present application;
FIG. 3 is a second schematic view of a male connector receptacle according to the present application;
FIG. 4 is a third schematic view of a male connector receptacle according to the present application;
FIG. 5 is a first schematic view of a female connector holder according to the present application;
FIG. 6 is a second schematic view of the structure of the female connector block of the present application;
FIG. 7 is a third schematic view of the structure of the female connector holder of the present application;
FIG. 8 is a schematic diagram of an AGV configuration according to the present application;
in the figure, 1 male connecting seat, 2 female connecting seats, 3 first manual bolt seats, 4 second manual bolt seats, 5 third manual bolt seats, 6 fourth manual bolt seats, 7 longitudinal bolts and 8 double-vehicle linkage connecting mechanisms,
11 a first reflection block, 12 an insertion block, 13 a hydraulic cylinder, 14 a second reflection block, 15 a sensor groove, 16 a mounting cavity, 17 a transverse pin shaft, 21 a transverse groove, 22 a second side end block, 23 a position adjusting sensor, 24 a light emitting beam, 25 a first sensor, 26 a second sensor, 27 a third sensor, 28 a fourth sensor, 29 a first detection rod and 30 a second detection rod.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
As shown in figures 1-8 of the drawings,
the double-vehiclelinkage connecting mechanism 8 provided by the embodiment comprises a male connectingseat 1 and a female connecting seat 2 which are matched with each other,
themale connector base 1 and the female connector base 2 are respectively connected on two single AGV,
themale connector base 1 comprises a first mounting frame, aninsertion block 12 is arranged on the end surface of the first mounting frame,
the female connector seat 2 comprises a second mounting frame, a slot is arranged on the end surface of the second mounting frame,
theinsert block 12 is inserted into the slot and locked by a locking mechanism.
In a preferred embodiment of the present invention,
the locking mechanism comprises atransverse pin shaft 17 which can extend out and retract from two outer side walls of the insertingblock 12, and atransverse groove 21 which is arranged on the inner side wall of the slot and is matched with thetransverse pin shaft 17 for use.
Wherein,
the locking mechanism further comprises ahydraulic cylinder 13 capable of driving thetransverse pin 17 to move transversely. Thepneumatic cylinder 13 is 1, just the piston rod and the tail end ofpneumatic cylinder 13 are equallyd divide and are connected with horizontalround pin axle 17 respectively, through the flexible horizontalround pin axle 17 lateral shifting that drives both sides ofpneumatic cylinder 13 to realize that horizontalround pin axle 17 insertshorizontal groove 21 in, lock public first connectingseat 1 and female first connecting seat 2, or extract from it, realize that public first connectingseat 1 and female first connecting seat 2 break away.
Wherein,
the first mounting frame is in a U-shaped groove shape, the insertingblock 12 is arranged in the U-shaped groove and comprises a first U-shaped plate and two first side end blocks arranged on two sides of the first U-shaped plate, a mountingcavity 16 is formed between the two first side end blocks, a hydraulic cylinder is arranged in the mountingcavity 16, and transverse pin shafts on two sides respectively penetrate through the first side end blocks on the two sides and are in sliding connection; two transverse pin shafts are arranged on each side.
Sensor grooves are formed in the front end surfaces of the two first side end blocks, and a control mechanism for controlling the transverse telescopic distance of the hydraulic cylinder is arranged in each sensor groove; the outer side surfaces of the two first side end blocks are inclined planes;
the control mechanism comprises asecond sensor 26, athird sensor 27, afirst sensor 25 and afourth sensor 28,
asecond sensor 26 and athird sensor 27 are respectively arranged in the twosensor grooves 15 at one side close to the hydraulic cylinder, afirst sensor 25 and afourth sensor 28 are respectively arranged at one side far away from the hydraulic cylinder, wherein thefirst sensor 25 and thesecond sensor 26 are arranged in the sensor groove at the left side, thethird sensor 27 and thefourth sensor 28 are arranged in the sensor groove at the right side, afirst detection rod 29 is arranged in the sensor groove at the left side, asecond detection rod 30 is arranged in the sensor groove at the right side,
atransverse pin shaft 17 connected with one side of a piston rod of the hydraulic cylinder is connected with the first detection rod through a connecting piece and drives the first detection rod to move in a sensor groove on the left side, atransverse pin shaft 17 connected with one side of the tail end of the hydraulic cylinder is connected with the second detection rod through a connecting piece and drives the second detection rod to move in a sensor groove on the right side,
the first detection rod is used with thefirst sensor 25 and thesecond sensor 26, and collects signals when passing through thefirst sensor 25 and thesecond sensor 26; the second sensing bar is used in cooperation with thethird sensor 27 and thefourth sensor 28 to collect signals when passing thethird sensor 27 and thefourth sensor 28.
When the hydraulic cylinder is used, the hydraulic cylinder is connected with the two sides of the transverse pin in the axial direction to move, and the hydraulic cylinder does not have a specific fixed end. When the hydraulic cylinder starts to work, the hydraulic cylinder is transversely ejected out to drive the transverse pin shaft to move, so that the first detection rod and the second detection rod are driven to move. When thefirst sensor 25 and thefourth sensor 28 respectively detect the first detection rod and the second detection rod, the hydraulic cylinder stops ejecting and locking, and the male connecting seat and the female connecting seat are locked, so that the two single AGV vehicles are locked; when the hydraulic cylinder retracts, when thesecond sensor 26 and thethird sensor 27 respectively detect the first detection rod and the second detection rod, the hydraulic cylinder stops retracting and locking, unlocking of the male connecting seat and the female connecting seat is completed, and accordingly unlocking of the two single AGV cars is completed.
Wherein,
the second mounting frame is in a U-shaped groove shape, two sides of the U-shaped groove are respectively provided with a secondside end block 22, the inner side faces of the two second side end blocks 22 are inclined planes and are matched with the outer side face of the first side end block, the inner side face of each secondside end block 22 is provided with atransverse groove 21, thetransverse grooves 21 arranged on each side are two, thetransverse grooves 21 are matched with transverse pin shafts for use, and the transverse pin shafts are inserted into the transverse grooves and pulled out of the transverse grooves to lock and unlock the male connecting seat and the female connecting seat.
Wherein,
two side ends of the second mounting frame are respectively provided with a position adjusting sensor 23, the position adjusting sensors adopt laser range finders, and when the position adjusting sensors work, emission beams 24 are emitted.
Correspondingly, afirst reflection block 11 and asecond reflection block 14 are respectively arranged at two side ends of the first mounting frame,
the reflecting surface of the first reflectingblock 11 is a plane reflecting plate, and the distance between themale connector base 1 and the female connector base 2 is adjusted by matching the first reflectingblock 11 with a position adjusting sensor 23;
the reflecting surface of the second reflectingblock 14 is an inclined surface inclined up and down, and the heights of themale connector base 1 and the female connector base 2 are adjusted by matching the second reflectingblock 14 with a position adjusting sensor 23;
preferably, the bevel is 45 °.
The position adjustment sensor sends out light and arrives first reflector block on, and light returns the position adjustment sensor again, and the actual measurement position adjustment sensor is to the distance between the plane reflector, can obtain the specific distance of two monomer AGV cars from this.
The light of the position adjusting sensor is emitted to the ground after being emitted to the second reflecting block, and the distance from the position adjusting sensor to a certain point of the inclined plane is measured actually, so that the relative height of the two-vehicle link mechanism can be measured. The early stage of machine learning is carried out, and data of the two vehicles which are butted in a relatively parallel state is recorded. And in the later period, carrying out numerical value judgment during operation, and judging whether the actually measured data meets the docking requirement during docking.
The two outer side walls of theinsertion block 12 are inclined planes, the shape of the insertion block is a structure with a narrow front part and a wide back part,
the two inner side walls of the slot are inclined planes, and the shape of the slot is a structure with a wide front part and a narrow back part.
Can adjust distance, both height and transverse distance between public first connectingseat 1 and the female connecting seat 2 through above-mentioned structure to make inserted block and slot align, can realize both to connect smoothly.
Wherein,
a first manual bolt seat 3 and a fourth manual bolt seat 6 are respectively arranged at two sides of the first mounting frame,
a second manual bolt seat 4 and a thirdmanual bolt seat 5 are respectively arranged at two sides of the second mounting rack,
the first manual bolt seat 3 and the second manual bolt seat 4 are connected through a longitudinal bolt 7, and the thirdmanual bolt seat 5 and the fourth manual bolt seat 6 are connected through a longitudinal bolt 7.
When the automatic pin shaft locking device is used, the distance and the height between themale connecting seat 1 and the female connecting seat 2 are adjusted through the two position adjusting sensors, the inclined planes are arranged on the two side faces of the inserting block, the automatic alignment between the two inner side faces of the inserting block is realized, after the inserting block is inserted into the inserting groove, the hydraulic cylinder is controlled to be started, the hydraulic cylinder drives the transverse pin shaft to be inserted into the transverse groove, the locking between the two is realized, after the locking, the longitudinal pin shaft is manually connected onto the manual pin shaft inserting seats between the two, and the further fixing is realized.
Example 2
On the basis ofembodiment 1, this embodiment provides an AGV car, including two monomer AGV cars, two monomer AGV cars are through two carlinkage coupling mechanism 8 inembodiment 1 and be connected. Themale connecting seat 1 and the female connecting seat 2 are respectively installed on a single AGV.
The application provides a two carlinkage coupling mechanism 8 can realize quick, the firm connection of two monomer AGV cars, and the effect is better.
The technical means not described in detail in the present application are known techniques.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (4)
1. A double-vehicle linkage connecting mechanism is characterized in that,
comprises a male connector and a female connector which are matched with each other,
the male connecting seat and the female connecting seat are respectively connected on two single AGV,
the male connector connecting seat comprises a first mounting frame, an inserting block is arranged on the end surface of the first mounting frame,
the female head connecting seat comprises a second mounting frame, a slot is arranged on the end surface of the second mounting frame,
the insertion block is inserted into the slot and locked by the locking mechanism;
the locking mechanism comprises a transverse pin shaft which can extend out and retract from the two outer side walls of the inserting block and a transverse groove which is arranged on the inner side wall of the slot and is matched with the transverse pin shaft for use;
the locking mechanism further comprises 1 hydraulic cylinder capable of driving the transverse pin shafts to transversely move, and the piston rod and the tail end of each hydraulic cylinder are respectively connected with the transverse pin shafts;
the first mounting frame is in a U-shaped groove shape, the inserting block is arranged in the U-shaped groove and comprises a first U-shaped plate and two first side end blocks arranged on two sides of the first U-shaped plate;
a hydraulic cylinder is arranged between the two first side end blocks, and the transverse pin shafts on the two sides respectively penetrate through the first side end blocks on the two sides and are in sliding connection;
sensor grooves are formed in the end faces of the two first side end blocks, and a control mechanism for controlling the transverse telescopic distance of the hydraulic cylinder is arranged in each sensor groove;
the outer side surfaces of the two first side end blocks are inclined planes;
two side ends of the second mounting rack are respectively provided with a position adjusting sensor,
correspondingly, a first reflection block and a second reflection block are respectively arranged at the two side ends of the first mounting frame,
the reflecting surface of the first reflecting block is a plane, and the distance between the male connector and the female connector is adjusted by matching the first reflecting block with a position adjusting sensor;
the reflecting surface of the second reflecting block is an inclined surface which inclines up and down, and the height of the male connector connecting seat and the height of the female connector connecting seat are adjusted by matching the second reflecting block with a position adjusting sensor;
the two outer side walls of the inserting block are inclined planes, the shape of the inserting block is a structure with a narrow front part and a wide back part,
the two inner side walls of the slot are inclined planes, and the shape of the slot is a structure with a wide front part and a narrow back part.
2. The linkage connection mechanism of claim 1,
the second mounting rack is in a U-shaped groove shape, two sides of the U-shaped groove are respectively provided with a second side end block,
the inner side surfaces of the two second side end blocks are inclined surfaces and are matched with the outer side surface of the first side end block for use, and transverse grooves are formed in the inner side surfaces of the second side end blocks.
3. The linkage connection mechanism of claim 1,
a first manual bolt seat and a fourth manual bolt seat are respectively arranged at two sides of the first mounting frame,
a second manual bolt seat and a third manual bolt seat are respectively arranged at the two sides of the second mounting rack,
the first manual bolt seat and the second manual bolt seat are connected through a longitudinal bolt, and the third manual bolt seat and the fourth manual bolt seat are connected through a longitudinal bolt.
4. An AGV characterized in that comprising two single AGV vehicles connected by a two-vehicle linkage connection mechanism according to any of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110188696.5ACN112549876B (en) | 2021-02-19 | 2021-02-19 | Double-vehicle linkage connecting mechanism and AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110188696.5ACN112549876B (en) | 2021-02-19 | 2021-02-19 | Double-vehicle linkage connecting mechanism and AGV |
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| Publication Number | Publication Date |
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| CN112549876A CN112549876A (en) | 2021-03-26 |
| CN112549876Btrue CN112549876B (en) | 2021-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110188696.5AActiveCN112549876B (en) | 2021-02-19 | 2021-02-19 | Double-vehicle linkage connecting mechanism and AGV |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116198630B (en)* | 2022-10-21 | 2025-09-23 | 天津朗誉机器人有限公司 | A dual-vehicle splicing AGV for vehicle assembly |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8798842B2 (en)* | 2011-01-25 | 2014-08-05 | Teleswivel, Llc | Trailer hitch alignment systems and methods |
| CN103754076A (en)* | 2014-01-04 | 2014-04-30 | 张少靖 | Truck tractor and trailer docking aid |
| US9821849B2 (en)* | 2015-12-04 | 2017-11-21 | Bosch Automotive Service Solutions Llc | Wheel alignment and toe angle adjustment system for a three-wheeled vehicle |
| CN107539051A (en)* | 2017-09-05 | 2018-01-05 | 天津朗誉科技发展有限公司 | A kind of self-coupling hitch |
| DE102017126476A1 (en)* | 2017-11-10 | 2019-05-16 | Syn Trac Gmbh | Docking cradle, docking bay and docking device with a docking cradle and a docking bay |
| CN211592130U (en)* | 2019-11-29 | 2020-09-29 | 杭州奥朵贸易有限公司 | Novel tractor device for agricultural machine manufacturing |
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| EE01 | Entry into force of recordation of patent licensing contract | Application publication date:20210326 Assignee:Zhongguancun Technology Leasing Co.,Ltd. Assignor:Tianjin Langyu robot Co.,Ltd. Contract record no.:X2022980007717 Denomination of invention:A double car linkage connecting mechanism and AGV car Granted publication date:20210601 License type:Exclusive License Record date:20220613 | |
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