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CN-122008746-A - Fixing device

CN122008746ACN 122008746 ACN122008746 ACN 122008746ACN-122008746-A

Abstract

The invention discloses a fixing and connecting device which is applied to the linkage of two AGV trolleys into a whole, wherein the fixing and connecting device comprises a fixing and floating mechanism and a fixing and grabbing mechanism which are respectively arranged on the two AGV trolleys, the fixing and floating mechanism comprises a connecting support used for being fixed on the AGV trolleys, a fixing seat is arranged on the connecting support in a sliding mode along the vertical direction, a dragging hanging piece and a roller connecting piece are arranged on the side face, away from the connecting support, of the fixing seat along the first direction, a limiting groove is formed in the side face, facing the fixing seat, of the fixing seat, used for being embedded in the roller connecting piece along the first direction, of the fixing seat, and a grabbing component is arranged on the fixing seat and provided with a first state clamped and fixed on the dragging hanging piece and a second state separated from the dragging hanging piece.

Inventors

  • LI SONG
  • LIU MINXING
  • GAO JIAN
  • WEI YOUSU
  • ZOU LIXIAN

Assignees

  • 华晓精密工业(浙江)有限公司

Dates

Publication Date
20260512
Application Date
20260415

Claims (10)

  1. 1. The fixed connection device is characterized by being applied to integrally linking two AGV trolleys (100), and comprises a fixed connection floating mechanism (200) and a fixed connection grabbing mechanism (300) which are adjacently arranged along a first direction, wherein the fixed connection floating mechanism (200) is arranged on one AGV trolley (100), and the fixed connection grabbing mechanism (300) is arranged on the other AGV trolley (100); the fixedly connected floating mechanism (200) comprises: A connection support (210) for fixing to a corresponding AGV (100); the fixing seat (220) is arranged on the connecting support (210) in a sliding manner along the vertical direction; the dragging hanging piece (230) is arranged on the side surface of the fixing seat (220) away from the connecting support (210) along the first direction; The roller connecting piece (240) is arranged on the side surface of the fixing seat (220) away from the connecting support (210) along the first direction; The fixedly connected grabbing mechanism (300) comprises: The mounting seat (310) is used for being fixed on the corresponding AGV trolley (100), a limiting groove (311) is formed in the side face, facing the fixed seat (220), of the mounting seat (310), and the limiting groove (311) is used for enabling the roller connecting piece (240) to be embedded in the first direction; the grabbing component is arranged on the mounting seat (310) and is in a first state of being clamped and fixed on the dragging hanging piece (230) and a second state of being separated from the dragging hanging piece (230).
  2. 2. The fastening device according to claim 1, wherein the gripping assembly comprises a power device, a first gripper (321) and a second gripper (322) which are oppositely arranged along a second direction, the first gripper (321) and the second gripper (322) are arranged at intervals along a vertical direction, the first gripper (321) and the second gripper (322) are both rotatably arranged on the mounting seat (310), the power device acts on the first gripper (321) and the second gripper (322) and is used for driving the first gripper (321) and the second gripper (322) to rotate close to each other or rotate away from each other, the first direction, the second direction and the vertical direction are mutually perpendicular, and when the gripping assembly is in the first state, projection of the first gripper (321) along the vertical direction is partially overlapped with the second gripper (322).
  3. 3. The fastening device according to claim 2, wherein the mounting bracket (220) has a mounting through slot (313) therein, the power equipment comprising: the first gear (331) is rotatably arranged in the mounting through groove (313), and the first gear (331) is coaxially connected with the first gripper (321); The second gear (332) is rotatably arranged in the mounting through groove (313), the first gear (331) is meshed with the second gear (332), and the second gear (332) is coaxially connected with the second gripper (322); The driving motor (333) is arranged on the fixing seat (220), and the driving motor (333) acts on the first gear (331) and is used for driving the first gear (331) to rotate.
  4. 4. The fastening device according to claim 3, wherein the driving motor (333) is disposed at an outer top end of the fixing base (220), an output shaft is disposed at one end of the driving motor (333) along the second direction, and the output shaft of the driving motor (333) is connected with the first gear (331) through a transmission mechanism, and the transmission mechanism comprises: the lead screw (334) extends along a second direction, the lead screw (334) and the driving motor (333) are adjacently arranged along a first direction, and the lead screw (334) is connected with an output shaft of the driving motor (333) through a synchronous transmission assembly; A screw nut seat (335) disposed on the screw (334), the screw nut seat (335) being slidably disposed on the fixed seat (220) along a second direction; The rack (336) is arranged at a position of the screw nut seat (335) corresponding to the first gear (331), and the rack (336) is meshed with the first gear (331).
  5. 5. The fastening device according to any one of claims 1 to 4, wherein the towing hitch (230) and the roller connection (240) are each provided with a force sensor (250) corresponding to the fixed seat (220), the force sensors (250) being electrically connected with a controller for acquiring the running synchronicity of two AGV carriages (100) and for adjusting the running speeds of the two AGV carriages (100).
  6. 6. The fastening device according to any one of claims 1 to 4, wherein the fastening floating mechanism (200) further comprises two elastic mechanisms, the elastic mechanisms are arranged between the fixing seat (220) and the connection support (210), the elastic mechanisms are used for generating a biasing force along a vertical direction, the two elastic mechanisms are oppositely arranged on two sides of the connection support (210) along a second direction, and the first direction, the second direction and the vertical direction are mutually perpendicular.
  7. 7. The fastening device according to claim 6, wherein the fixing base (220) is provided with two connecting portions (221) protruding toward the side wall of the connecting support (210), the two connecting portions (221) are arranged corresponding to the two elastic mechanisms, the elastic mechanisms comprise a first spring (261) and a second spring (262) which are arranged opposite to each other along the vertical direction, the first spring (261) and the second spring (262) extend along the vertical direction, one end of the first spring (261) is connected to the top end face of the connecting portion (221), the other end of the first spring is connected to the connecting support (210), one end of the second spring (262) is connected to the bottom end face of the connecting portion (221), and the other end of the second spring is connected to the connecting support (210).
  8. 8. The fastening device according to claim 1, wherein the limiting groove (311) is provided as a tapered opening (311A) on a side facing away from the mounting seat (310) in a first direction, the tapered opening (311A) decreasing in size in the first direction in a direction approaching the mounting seat (310); and/or the roller connection (240) can rotate with the vertical direction as a rotation axis.
  9. 9. The fastening device according to claim 1 or 8, wherein two roller connectors (240) are provided, the two roller connectors (240) being disposed opposite each other along a second direction on both sides of the towing hitch (230), the first direction, the second direction and the vertical direction being perpendicular to each other.
  10. 10. The fastening device according to claim 9, wherein the fixing base (220) and the connection support (210) are connected by two sets of guide mechanisms, the two sets of guide mechanisms are oppositely arranged at two sides of the dragging hanging piece (230) along the second direction, the two sets of guide mechanisms are positioned between the two roller connecting pieces (240), the guide mechanisms comprise at least one guide sliding rail (271) and a guide sliding block (272) correspondingly arranged on the guide sliding rail (271) in a sliding manner along the vertical direction, the guide sliding rail (271) is connected with one of the fixing base (220) and the connection support (210), and the guide sliding block (272) is connected with the other of the fixing base (220) and the connection support (210).

Description

Fixing device Technical Field The invention relates to the technical field of multi-AGV trolley transportation, in particular to a fixedly connecting device. Background The size and weight of materials to be transported are increased along with the development of industry. The transfer capability of single AGV dolly can not reach the demand gradually, need to link two piece at least AGV dollies and form the AGV assembly for many monomer AGV dolly simultaneous movement satisfies the material transfer demand to jumbo size, heavy weight. In the related art, two adjacent AGV trolleys are linked by adopting a butt joint locking structure, the freedom degree of movement of one AGV trolley relative to the other AGV trolley along the X axis, the Y axis and the Z axis is limited to realize synchronous operation, but the AGV assembly formed by linking the two adjacent AGV trolleys is easy to produce internal pulling when the vehicle runs on uneven ground by adopting the butt joint locking structure, so that the condition of being dead is easily caused. Disclosure of Invention The invention provides a fixedly connecting device, which solves the technical problem that the prior butt joint locking structure is easy to produce internal pulling to cause other dead conditions when an uneven ground is driven after two adjacent AGV trolleys are integrally connected. In view of the above, the present invention provides a fixing and connecting device, which is applied to integrally connecting two AGV carts, wherein the fixing and connecting device comprises a fixing and connecting floating mechanism and a fixing and connecting grabbing mechanism which are adjacently arranged along a first direction, the fixing and connecting floating mechanism is arranged on one of the AGV carts, and the fixing and connecting grabbing mechanism is arranged on the other AGV cart; The fixedly connected floating mechanism comprises: The connecting support is used for being fixed on the corresponding AGV trolley; The fixing seat is arranged on the connecting support in a sliding manner along the vertical direction; The dragging hanging piece is arranged on the side surface of the fixing seat, which is away from the connecting support along the first direction; the roller connecting piece is arranged on the side surface of the fixing seat, which is away from the connecting support along the first direction; the fixedly connected grabbing mechanism comprises: The mounting seat is used for being fixed on a corresponding AGV trolley, a limit groove is formed in the side face, facing the fixed seat, of the mounting seat, and the limit groove is used for enabling the roller connecting piece to be embedded in the first direction; the grabbing component is arranged on the mounting seat and is provided with a first state of clamping and fixing the dragging hanging piece and a second state of separating from the dragging hanging piece. The fixing device has at least the following beneficial effects: The fixed connection floating mechanism and the fixed connection grabbing mechanism are respectively and fixedly connected to the two AGV trolleys, a limiting groove is formed in the mounting seat corresponding to the position of the roller connecting piece, and a grabbing component is arranged in the mounting seat corresponding to the position of the dragging hanging piece; when two AGV dollies are linked into a whole, two AGV dollies are positioned at first so that the two AGV dollies are aligned along a first direction, one of the AGV dollies is controlled to move along the first direction towards a direction close to the other AGV dolly to be embedded into a corresponding limit groove by a roller connecting piece, the degree of freedom of moving one AGV dolly along a second direction is limited, a grabbing component and a dragging hanging piece are accurately and correspondingly arranged at the moment, then the grabbing component is switched to a first state from a second state, the grabbing component and the dragging hanging piece are clamped and fixed into a whole, the degree of freedom of moving one AGV dolly along the first direction is limited, the two AGV dollies are linked into a whole, the two AGV dollies linked into a whole do not generate relative displacement along the first direction and the second direction in a driving process, so that materials are accurately conveyed into a designated station, meanwhile, a fixing seat can be connected with a supporting seat in a sliding mode along a vertical direction, even the grabbing component and the dragging hanging piece are clamped and fixed into a whole along the vertical direction, and the ground is not prone to fluctuation caused by the fact that the two AGV dollies in the whole in the driving process. In an alternative embodiment, the grabbing component comprises a power device, a first grabbing claw and a second grabbing claw which are oppositely arranged along a second direction, the first grabbi