阅读说明：本技术 一种牵引对接结构及对接方法 (Traction butt joint structure and butt joint method ) 是由 袁延凯 于 2019-12-17 设计创作，主要内容包括：本发明公开了一种牵引对接结构及对接方法,包括第一对接体与第二对接体,两者中的一者安装在牵引机器人上,另一者安装在被牵引的料车上；第一对接体包括第一座体及第一对接件；第一对接件可相对于第一座体水平滑动,且两者之间设置有第一弹簧；第二对接体包括第二座体、第二对接件、预定位装置及垂直驱动装置；第二对接件可相对于第二座体垂直滑动,且其滑动由垂直驱动装置驱动；预定位装置用于作用于第一对接件；本发明通过设置预定位装置,使得第一对接体与第二对接体对接时,可先对第一对接件进行预定位,再使第一对接件与第二对接件对接,如此可避免传统对接过程中产生的碰撞,实现软对接,且对接成功率高。(The invention discloses a traction butt joint structure and a butt joint method, wherein the traction butt joint structure comprises a first butt joint body and a second butt joint body, wherein one of the first butt joint body and the second butt joint body is arranged on a traction robot, and the other one of the first butt joint body and the second butt joint body is arranged on a towed skip car; the first butt joint body comprises a first seat body and a first butt joint piece; the first butt joint piece can horizontally slide relative to the first seat body, and a first spring is arranged between the first butt joint piece and the first seat body; the second butt joint body comprises a second seat body, a second butt joint piece, a pre-positioning device and a vertical driving device; the second butt joint piece can vertically slide relative to the second seat body, and the sliding of the second butt joint piece is driven by the vertical driving device; the pre-positioning device is used for acting on the first butt piece; according to the invention, by arranging the pre-positioning device, when the first butt joint body is in butt joint with the second butt joint body, the first butt joint body can be pre-positioned, and then the first butt joint body is in butt joint with the second butt joint body, so that collision generated in the traditional butt joint process can be avoided, soft butt joint is realized, and the butt joint success rate is high.)

1. A traction butt joint structure is characterized by comprising a first butt joint body and a second butt joint body, wherein one of the first butt joint body and the second butt joint body is installed on a traction robot, and the other one of the first butt joint body and the second butt joint body is installed on a pulled skip car;

the first butt joint body comprises a first base body and a first butt joint piece; the first butt joint piece can horizontally slide relative to the first seat body, and a first spring is arranged between the first butt joint piece and the first seat body;

the second butt joint body comprises a second seat body, a second butt joint piece, a pre-positioning device and a vertical driving device; the second butt joint piece can vertically slide relative to the second seat body, and the sliding of the second butt joint piece is driven by a vertical driving device; the pre-positioning device is used for acting on the first butting piece to enable the first butting piece to reach a preset butting position;

one of the first butt joint piece and the second butt joint piece is provided with a butt joint hole, and the other one is provided with a bulge part which can enter and exit the butt joint hole.

2. The towing interface structure of claim 1 wherein the pre-positioning means includes a first electromagnet that is energized to attract the first interface.

3. The towing butt joint structure according to claim 1, wherein the vertical driving device includes a second electromagnet and a third electromagnet, which are disposed opposite to each other in an up-and-down direction, the second electromagnet is mounted on the second butt joint member, and the third electromagnet is mounted on the second seat body.

4. The towing interface structure of claim 1 wherein a second spring is disposed between the second docking member and the second housing.

5. The towing interface as recited in claim 1, wherein the first or second interface further comprises a brake cushioning device.

6. The traction interface structure as claimed in claim 5, wherein the brake buffer device comprises a buffer block, a guide fixing block, a guide member and a buffer spring, the buffer block is fixed relative to the guide member, the guide member is slidably connected with the guide fixing block, and the buffer spring is disposed between the buffer block and the guide fixing block.

7. The towing interface as recited in claim 5, wherein the ends of the projections have a guide structure.

8. A traction robot electromagnetic docking method based on a traction docking structure according to any one of claims 1 to 7, wherein the method is applied to a control system which is in control connection with the pre-positioning device and a vertical driving device, and the method comprises the following steps:

controlling the vertical driving device to act so that the second butt joint piece moves vertically to an avoidance position;

controlling the pre-positioning device to operate, so that the pre-positioning device acts on the first butt joint piece and enables the first butt joint piece to reach a preset butt joint position;

and controlling the action of the vertical driving device to enable the second butting piece to vertically move to a butting position, so that the protruding part is butted with the butting hole.

9. The method of claim 8, wherein the pre-positioning device includes a first electromagnet, and wherein controlling the pre-positioning device to operate includes:

and controlling the first electromagnet to be electrified.

10. The electromagnetic docking method for a traction robot as claimed in claim 8, wherein the vertical driving device comprises a second electromagnet and a third electromagnet, which are disposed opposite to each other in the vertical direction, the second electromagnet is mounted on the second docking member, and the third electromagnet is mounted on the second base; the controlling the action of the vertical driving device to enable the second butt joint piece to vertically move to the avoiding position comprises the following steps:

and controlling the second electromagnet and the third electromagnet to be electrified, so that the second electromagnet and the third electromagnet repel in the same stage, and driving the second butting piece to vertically move to an avoidance position.

Technical Field

The invention relates to the technical field of AGV, in particular to a traction butt joint structure and a butt joint method.

Background

At present, various mobile robots are widely used in industry, particularly in the aspect of storage and transportation, a backpack mobile robot and a traction mobile robot are common, and the common traction mobile robot docking structures in the market are mainly divided into two types, one type is a single-mechanism docking structure, the other type is a multi-mechanism docking structure, the common single-mechanism docking structure is a concave-convex sector type docking structure, and the multi-mechanism is a hand-simulated mechanical claw structure. The butt joint structure has a single form, namely a mechanical hard butt joint mode of a single mechanism or multiple mechanisms is adopted, so that the problems of butt joint failure and the like caused by butt joint impact and position deviation are caused, and a plurality of potential safety hazards exist at the same time.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a traction butt joint structure and a butt joint method which can avoid collision in butt joint and have high butt joint success rate.

The technical scheme is as follows: in order to achieve the purpose, the traction butt joint structure comprises a first butt joint body and a second butt joint body, wherein one of the first butt joint body and the second butt joint body is installed on a traction robot, and the other one is installed on a pulled skip car;

the first butt joint body comprises a first base body and a first butt joint piece; the first butt joint piece can horizontally slide relative to the first seat body, and a first spring is arranged between the first butt joint piece and the first seat body;

the second butt joint body comprises a second seat body, a second butt joint piece, a pre-positioning device and a vertical driving device; the second butt joint piece can vertically slide relative to the second seat body, and the sliding of the second butt joint piece is driven by a vertical driving device; the pre-positioning device is used for acting on the first butting piece to enable the first butting piece to reach a preset butting position;

one of the first butt joint piece and the second butt joint piece is provided with a butt joint hole, and the other one is provided with a bulge part which can enter and exit the butt joint hole.

Furthermore, the pre-positioning device comprises a first electromagnet, and the first electromagnet can adsorb the first butting piece after being electrified.

Furthermore, the vertical driving device comprises a second electromagnet and a third electromagnet which are arranged oppositely up and down, the second electromagnet is arranged on the second butt joint piece, and the third electromagnet is arranged on the second seat body.

Further, a second spring is arranged between the second butt joint piece and the second seat body.

Further, the first butt joint body or the second butt joint body further comprises a brake buffering device.

Further, brake buffer includes buffer block, direction fixed block, guide and buffer spring, the buffer block for the guide is fixed, the guide with direction fixed block sliding connection, buffer spring arranges in the buffer block with between the direction fixed block.

Further, the end of the projection has a guide structure.

A traction robot electromagnetic docking method is based on the traction docking structure, and is applied to a control system which is in control connection with the pre-positioning device and a vertical driving device, and the method comprises the following steps:

controlling the vertical driving device to act so that the second butt joint piece moves vertically to an avoidance position;

controlling the pre-positioning device to operate, so that the pre-positioning device acts on the first butt joint piece and enables the first butt joint piece to reach a preset butt joint position;

and controlling the action of the vertical driving device to enable the second butting piece to vertically move to a butting position, so that the protruding part is butted with the butting hole.

Further, the pre-positioning device includes a first electromagnet, and the controlling the pre-positioning device includes:

and controlling the first electromagnet to be electrified.

Furthermore, the vertical driving device comprises a second electromagnet and a third electromagnet which are arranged in an up-down opposite mode, the second electromagnet is installed on the second butt joint piece, and the third electromagnet is installed on the second seat body; the controlling the action of the vertical driving device to enable the second butt joint piece to vertically move to the avoiding position comprises the following steps:

and controlling the second electromagnet and the third electromagnet to be electrified, so that the second electromagnet and the third electromagnet repel in the same stage, and driving the second butting piece to vertically move to an avoidance position.

Has the advantages that: according to the traction butt joint structure and the butt joint method, the slidable first butt joint piece and the pre-positioning device capable of acting on the first butt joint piece are arranged, so that when the first butt joint body is in butt joint with the second butt joint body, the first butt joint piece can be pre-positioned, and then the first butt joint piece is in butt joint with the second butt joint piece, collision generated in the traditional butt joint process can be avoided, soft butt joint is achieved, and the butt joint success rate is high.

Drawings

FIG. 1 is a structural diagram of a towing interface according to the present invention;

FIG. 2 is a block diagram of a first docking body;

FIG. 3 is a block diagram of a second docking body;

FIG. 4 is a schematic flow chart of the traction butt-joint method of the present invention.

In the figure: 1-a first docking body; 11-a first seat body; 12-a first docking member; 121-docking holes; 13-a first spring; 14-a buffer block; 15-guiding fixed blocks; 16-a guide; 17-a buffer spring; 2-a second docking body; 21-a second seat body; 22-a second docking member; 221-a projection; 23-a first electromagnet; 24-a second electromagnet; 25-a third electromagnet; 26-a second spring; 3-a traction robot; 4-skip car.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the second feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The towing butt joint structure shown in fig. 1 comprises a first butt joint body 1 and a second butt joint body 2, wherein the first butt joint body 1 is installed on a towed skip 4, and the second butt joint body 2 is installed on a towing robot 3.

As shown in fig. 2, the first docking body 1 includes a first seat 11 and a first docking member 12; the first butt joint part 12 can horizontally slide relative to the first seat body 11, and a first spring 13 is arranged between the first butt joint part 12 and the first seat body 11, here, a sliding cavity is arranged in the first seat body 11, the first butt joint part 12 is in sliding fit with the sliding cavity, and the first spring 13 enables the first butt joint part 12 to have a tendency of retracting into the sliding cavity; as shown in fig. 3, the second docking body 2 includes a second seat 21, a second docking member 22, a pre-positioning device and a vertical driving device; the second docking member 22 can slide vertically relative to the second seat 21, and the sliding is driven by a vertical driving device; said pre-positioning means being intended to act on said first docking member 12 to bring it to a predetermined docking position; the first butt joint member 12 is formed with a butt joint hole 121, the first butt joint member 12 is formed with a protrusion 221 capable of entering and exiting the butt joint hole 121, in order to make the protrusion 221 and the butt joint hole 121 butt joint smoothly, an end of the protrusion 221 is provided with a guide structure, specifically, the guide structure is an arc chamfer provided at an end edge of the protrusion 221, so that when the protrusion 221 enters the butt joint hole 121, if a relative position between the protrusion 221 and the butt joint hole is deviated, the relative position between the protrusion 221 and the butt joint hole can be guided by the guide structure.

Through the above structure, before the first docking member 12 is docked with the second docking member 22, the first docking member 12 can slide out of the sliding cavity to reach the predetermined position by using the pre-positioning device, and then the second docking member 22 slides down, so that the protrusion 221 extends into the docking hole 121 to realize docking, in order to enable the first docking member 12 and the second docking member 22 to be maintained in the docked state, the second spring 26 is arranged between the second docking member 22 and the second seat 21, and the second spring 26 enables the second docking member 22 to have a tendency of approaching the first docking member 12, so that the second docking member 22 can be prevented from being lifted by itself due to vibration or external force interference when no external force is applied to the second docking member 22, which can cause the docking structure to be disengaged.

Specifically, the pre-positioning device comprises a first electromagnet 23, and the first electromagnet 23 can perform an adsorption effect on the first butt-joint part 12 after being electrified. Therefore, whether the pre-positioning device operates or not can be controlled by controlling the on-off of the first electromagnet 23, and when the first electromagnet 23 is powered on, the first electromagnet 23 generates magnetic attraction on the first butting piece 12, so that the first butting piece slides outwards relative to the sliding cavity to reach a butting position. When the first electromagnet 23 is de-energized and the attraction force disappears, the first docking member 12 will move towards the sliding chamber under the elastic action of the first spring 13.

The vertical driving device comprises a second electromagnet 24 and a third electromagnet 25 which are arranged oppositely up and down, the second electromagnet 24 is arranged on the second butt joint part 22, and the third electromagnet 25 is arranged on the second seat body 21. In this way, by controlling the second electromagnet 24 and the third electromagnet 25 to be electrified and controlling the polarities of the two electromagnets, the two electromagnets can be relatively close to or far away from each other, and the lifting movement of the second docking piece 22 is realized.

The pre-positioning device and the vertical driving device can control the movement of the first butt-jointed part 12 and the second butt-jointed part 22 by using the electromagnet as a power element, are low in cost, avoid using high-cost components such as a motor and the like, are simple to control, and can quickly and effectively realize the butt joint operation of the first butt-jointed part 12 and the second butt-jointed part 22.

In addition, preferably, the first docking body 1 or the second docking body 2 further includes a brake buffering device. In this embodiment, the setting of brake buffer device is contained in first butt joint body 1, specifically, brake buffer device includes buffer block 14, direction fixed block 15, guide 16 and buffer spring 17, buffer block 14 for guide 16 is fixed, guide 16 with direction fixed block 15 sliding connection, buffer spring 17 is arranged in buffer block 14 with between the direction fixed block 15.

Through setting up above-mentioned brake buffer, behind first butt joint body 1 and second butt joint body 2, buffer block 14 supports the tip of second butt joint piece 22, so the in-process that traction robot 3 pulled the motion of skip 4, if traction robot 3 brakes, skip 4 continues forward motion under the inertial action, because brake buffer's cushioning effect, can reduce the rigid impact of traction robot 3 with skip 4 for the goods can not slide or drop because the brake in the operation of skip 4.

The invention also provides an electromagnetic docking method of a traction robot, which is based on the traction docking structure, the method is applied to a control system, the control system is in control connection with the pre-positioning device and the vertical driving device, as shown in fig. 4, the method comprises the following steps of S501-S503:

step S501, controlling the action of the vertical driving device to enable the second butt joint piece 22 to vertically move to an avoidance position;

in this embodiment, the avoidance position is a high position, and the docking position is a low position, and since the structure of the vertical driving device in this embodiment is in the form of the second electromagnet 24 and the third electromagnet 25, the specific implementation method in this step is as follows: and controlling the second electromagnet 24 and the third electromagnet 25 to be electrified, so that the second electromagnet 24 and the third electromagnet 25 repel each other in the same stage, and driving the second butting piece 22 to vertically move to the avoidance position.

Step S502, controlling the pre-positioning device to operate, enabling the pre-positioning device to act on the first butting piece 12 and enabling the first butting piece 12 to reach a preset butting position;

in this step, controlling the pre-positioning device to operate specifically includes: the first electromagnet 23 is controlled to be electrified.

Step S503, controlling the vertical driving device to move so that the second docking member 22 moves vertically to the docking position, so that the protrusion 221 docks with the docking hole 121.

According to the traction butt joint structure and the butt joint method, the slidable first butt joint piece and the pre-positioning device capable of acting on the first butt joint piece are arranged, so that when the first butt joint body is in butt joint with the second butt joint body, the first butt joint piece can be pre-positioned, and then the first butt joint piece is in butt joint with the second butt joint piece, collision generated in the traditional butt joint process can be avoided, soft butt joint is achieved, and the butt joint success rate is high.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.