阅读说明：本技术 一种物体推拉装置及agv车 (Object push-pull device and AGV car ) 是由 张家春 于 2019-11-26 设计创作，主要内容包括：本发明公开了一种物体推拉装置及AGV车,物体推拉装置包括用于与待推拉物体定位连接且推拉待推物体运动的定位推拉机构,所述定位推拉机构包括：用于插入待推拉物体上的插件,所述待推拉物体上具有供插件插入的插入口；用于驱动插件插入待推拉物体上的第一驱动机构；用于推拉待物体运动且可转动的推拉件；所述推拉件上开设有可与待推拉物体的插入口位置对应且可供插件穿过的定位槽口。本发明可以用于推拉物体,提高推拉运输效率,可在AGV车的牵引作用下,使得待推拉物体移动,大大提高了运输效率。(The invention discloses an object push-pull device and an AGV (automatic guided vehicle), wherein the object push-pull device comprises a positioning push-pull mechanism which is used for being connected with an object to be pushed in a positioning mode and pushing and pulling the object to be pushed to move, and the positioning push-pull mechanism comprises: the plug-in unit is used for being inserted into an object to be pushed and pulled, and an insertion opening for inserting the plug-in unit is formed in the object to be pushed and pulled; the first driving mechanism is used for driving the plug-in unit to be inserted into an object to be pushed and pulled; the pushing and pulling piece is used for pushing and pulling the object to be moved and can rotate; the push-pull piece is provided with a positioning notch which can correspond to the position of an insertion hole of an object to be pushed and pulled and can be used for the insertion piece to pass through. The invention can be used for pushing and pulling objects, improves the pushing and pulling transportation efficiency, can move the objects to be pushed and pulled under the traction action of the AGV, and greatly improves the transportation efficiency.)

1. An object push-and-pull device, characterized by, including being used for with treating push-and-pull object location connection and push-and-pull treat push-and-pull the location push-and-pull mechanism of pushing and pulling the motion of pushing and pulling the object, location push-and-pull mechanism includes:

the plug-in unit is used for being inserted into an object to be pushed and pulled, and an insertion opening for inserting the plug-in unit is formed in the object to be pushed and pulled;

the first driving mechanism is used for driving the plug-in unit to be inserted into an object to be pushed and pulled;

the pushing and pulling piece is used for pushing and pulling the object to be moved and can rotate;

the push-pull piece is provided with a positioning notch which can correspond to the position of an insertion hole of an object to be pushed and pulled and can be used for the insertion piece to pass through.

2. The object push-pull device according to claim 1, wherein the first driving mechanism comprises a positioning guide rail, a guide rail seat slidably engaged with the positioning guide rail, and a positioning push rod connected to the guide rail seat for pushing the insert to move.

3. The object push-pull device according to claim 1 or 2, further comprising an alignment mechanism for aligning the push-pull member and limiting the rotation of the push-pull member.

4. The object push-pull apparatus as claimed in claim 3, wherein the alignment mechanism comprises:

the limiting piece is arranged on the push-pull piece;

the straightening piece can be in clamping fit with the limiting piece;

and the second driving mechanism is used for driving the straightening piece to be matched with or separated from the limiting piece.

5. The object push-pull device as claimed in claim 4, wherein the straightening member is provided with a stop recess that is engageable with the straightening member.

6. The object push-pull device according to claim 5, wherein the position-limiting member comprises a connecting rod fixedly connected to the push-pull member and a straightening bearing disposed on the connecting rod and capable of cooperating with the position-limiting groove.

7. The object push-pull device according to claim 5 or 6, wherein at least one side of the stopper groove is curved and extended toward the outside to form a curved extension.

8. The object push-pull apparatus according to claim 4, wherein the second driving mechanism comprises an alignment push rod having an alignment guide slidably engaged with the alignment guide and coupled to the alignment member.

9. The object push-pull according to claim 1, characterized in that the push-pull element and/or the insert element is in the form of a plate.

10. An AGV comprising a body, wherein the body is provided with an object pushing and pulling device according to any one of claims 1 to 9.

Technical Field

The invention belongs to the technical field of yarn production, and particularly relates to an object push-pull device and an AGV.

Background

The AGV is a transport vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, having safety protection and various transfer functions, and is a transport vehicle that does not require a driver in industrial applications and uses a rechargeable battery as a power source. Generally, the traveling route and behavior can be controlled by a computer, or the traveling route can be set up by using an electromagnetic rail, the electromagnetic rail is adhered to the floor, and the unmanned transport vehicle moves and acts by means of the information brought by the electromagnetic rail.

Disclosure of Invention

In order to solve the problems, the invention provides an object pushing and pulling device which is convenient for conveying materials.

The technical scheme of the invention is as follows: an object push-and-pull device, includes being used for with treating push-and-pull object location connection and push-and-pull treat the location push-and-pull mechanism of pushing and pulling the motion of pushing and pulling the object, location push-and-pull mechanism includes:

the plug-in unit is used for being inserted into an object to be pushed and pulled, and an insertion opening for inserting the plug-in unit is formed in the object to be pushed and pulled;

the first driving mechanism is used for driving the plug-in unit to be inserted into an object to be pushed and pulled;

the pushing and pulling piece is used for pushing and pulling the object to be moved and can rotate;

the push-pull piece is provided with a positioning notch which can correspond to the position of an insertion hole of an object to be pushed and pulled and can be used for the insertion piece to pass through.

When the object to be pushed and pulled needs to be pushed and pulled, the push-pull mechanism is moved firstly, so that the positioning notch on the push-pull piece corresponds to the insertion opening of the object to be pushed and pulled, then the driving mechanism drives the plug-in to penetrate through the positioning notch and be inserted into the insertion opening, and then the push-pull piece pushes and pulls the object to be pushed and pulled. The push-pull piece can rotate, so that the push-pull direction can be conveniently changed when an object to be pushed and pulled is pushed and pulled.

The first driving mechanism has various structural forms, can adopt various existing structures, and preferably comprises a positioning guide rail, a guide rail seat in sliding fit with the positioning guide rail and a positioning push rod connected with the guide rail seat and used for pushing the plug-in units to move.

Since the push-pull member is rotatable, in order to prevent the push-pull member from changing its direction when the plug-in unit is inserted into the insertion port, it is preferable that the plug-in unit further includes a straightening mechanism for straightening the push-pull member and restricting the rotation of the push-pull member. The invention can straighten the push-pull piece through the straightening mechanism, is convenient for the alignment of the positioning notch on the push-pull piece and the socket, and is convenient for the plug-in to pass through the positioning notch and enter the socket.

The structural form of the straightening mechanism in the invention is various, and preferably, the straightening mechanism comprises:

the limiting piece is arranged on the push-pull piece;

the straightening piece can be in clamping fit with the limiting piece;

and the second driving mechanism is used for driving the straightening piece to be matched with or separated from the limiting piece.

When the straightening is carried out, the second driving mechanism drives the straightening piece to move towards one side of the limiting piece, so that the limiting piece is in clamping fit with the straightening piece, the rotation of the push-pull piece is limited, and a certain linear direction is kept. When the push-pull piece needs to rotate, the second driving mechanism drives the straightening piece to be separated from the limiting piece.

The straightening piece and the limiting piece are connected in a clamping mode in various manners, the existing various manners are adopted, and preferably, the straightening piece is provided with a limiting groove matched with the straightening piece. When the straightening piece is matched with the limiting piece, the limiting piece is clamped in the limiting groove.

Preferably, the limiting part comprises a connecting rod fixedly connected with the push-pull part and a straightening bearing arranged on the connecting rod and matched with the limiting groove. The straightening bearing can rotate when contacting with the inner wall of the limiting groove, so that the friction force between the inner wall of the limiting groove and the outer wall of the straightening bearing can be reduced, and the service life is prolonged.

Preferably, at least one side of the limiting groove is bent and extended towards the outer side to form a bent extension part. The bending extension part can increase the opening size of the limiting groove and can be conveniently matched with limiting parts on push-pull rods with different rotation angle sizes.

Preferably, the second driving mechanism includes a straightening push rod which is slidably fitted with the straightening guide rail and connected with the straightening member.

The push-pull member and the insert member of the present invention may be constructed in various forms, and preferably, the push-pull member and/or the insert member are in the form of a plate.

The invention further provides an AGV which comprises a vehicle body, wherein the vehicle body is provided with the object pushing and pulling device. When the cart body moves, the object to be pushed and pulled is driven to move synchronously, the object to be pushed and pulled can be a material cart, a push-pull handrail is arranged on the material cart, and the plug-in can be inserted into an area (namely the plug-in hole) between the push-pull handrail and the cart body of the material cart from bottom to top, so that the plug-in can be connected with the material cart.

Compared with the prior art, the invention has the beneficial effects that:

the invention can be used for pushing and pulling objects, improves the pushing and pulling transportation efficiency, can move the objects to be pushed and pulled under the traction action of the AGV, and greatly improves the transportation efficiency.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural view of an object push-pull device according to the present invention.

Fig. 3 is a schematic structural view of the push-pull plate according to the present invention.

Detailed Description

As shown in FIG. 1, the present invention is an AGV comprising a vehicle body 3, wherein the vehicle body 3 is provided with the above-mentioned object pushing and pulling device. When the vehicle body 3 moves, the object to be pushed and pulled is driven to move synchronously, and the object to be pushed and pulled can be a material trolley 4.

As shown in fig. 2 and 3, the present invention includes a positioning push-pull mechanism 1 for positioning and connecting with an object to be pushed and pulled and pushing the object to be pushed and pulling, the positioning push-pull mechanism 1 includes:

the plug-in unit 11 is used for being inserted into an object to be pushed and pulled, and an insertion opening for inserting the plug-in unit 11 is formed in the object to be pushed and pulled;

a first driving mechanism 13 for driving the insertion member 11 to be inserted into the object to be pushed and pulled;

a push-pull member 12 for pushing and pulling the object to be moved and rotating (e.g., rotating around B);

the push-pull piece 12 is provided with a positioning notch which corresponds to the insertion opening of the object to be pushed and pulled and is used for the insertion piece 11 to pass through.

When an object to be pushed and pulled needs to be pushed and pulled, the material pushing and pulling device is moved firstly, so that the positioning notch on the pushing and pulling piece 12 corresponds to the insertion opening of the object to be pushed and pulled, then the plug-in piece 11 is driven by the driving mechanism to pass through the positioning notch and be inserted into the insertion opening, the material pushing and pulling handrail 41 can be arranged on the material pushing and pulling cart 4, the plug-in piece 11 can be inserted into the area between the push-pull handrail and the material pushing and pulling cart body (namely the insertion opening) from bottom to top, and then the connection between the plug-. Then, the object to be pushed and pulled can be pushed and pulled by pushing and pulling the pushing and pulling piece 12. The push-pull piece 12 can rotate, so that the push-pull direction can be conveniently changed when an object to be pushed and pulled is pushed and pulled.

The first driving mechanism 13 of the present invention has various structural forms, and may adopt various existing structures, for example, as shown in fig. 2, the first driving mechanism 13 includes a positioning rail, a rail seat 131 slidably engaged with the positioning rail, and a positioning push rod 132 connected with the rail seat 131 and used for pushing the insert 11 to move.

Since the push-pull member 12 is rotatable, in order to prevent the push-pull member 12 from changing its direction when the insert 11 is inserted into the insertion port, it is preferable to further include a straightening mechanism 2 for straightening the push-pull member 12 and restricting the rotation of the push-pull member 12. The invention can straighten the push-pull piece 12 through the straightening mechanism 2, is convenient for the alignment of the positioning notch on the push-pull piece 12 and the socket, and is convenient for the plug-in 11 to pass through the positioning notch and enter the socket. The structural form of the straightening mechanism 2 of the present invention is various, and as shown in fig. 2, the straightening mechanism 2 includes:

a limiting member 21 disposed on the push-pull member 12;

a straightening part 22 which can be in clamping fit with the limiting part 21;

and the second driving mechanism 23 is used for driving the straightening part 22 to be matched with or separated from the limiting part 21.

During straightening, the second driving mechanism 23 drives the straightening member 22 to move towards one side of the limiting member 21, so that the limiting member 21 is in clamping fit with the straightening member 22, the rotation of the push-pull member 12 is limited, and a certain linear direction is kept. When the push-pull member 12 needs to be rotated, the second driving mechanism 23 may drive the alignment member 22 to disengage from the limiting member 21. Wherein, the second driving mechanism 23 includes an alignment push rod 232 slidably engaged with the alignment guide 231 and connected to the alignment member 22.

The present invention has various clamping ways of the straightening member 22 and the limiting member 21, and various ways are available, for example, the straightening member 22 is provided with a limiting groove 221 which can be matched with the straightening member 22. When the alignment member 22 is engaged with the limiting member 21, the limiting member 21 is inserted into the limiting groove 221. The limiting member 21 includes a connecting rod fixedly connected to the push-pull member 12 and a straightening bearing disposed on the connecting rod and capable of matching with the limiting groove 221. The straightening bearing can rotate when contacting with the inner wall of the limiting groove 221, so that the friction force between the inner wall of the limiting groove 221 and the outer wall of the straightening bearing can be reduced, and the service life is prolonged. In this embodiment, at least one side of the limiting groove 221 is bent and extended toward the outside to form a bent extension portion. The bending extension portion can increase the opening size of the limiting groove 221, and can be conveniently matched with the limiting member 21 on the push-pull rod with different rotation angle sizes.

The push-pull member 12 and the insert 11 of the present invention have various structural forms, and the push-pull member 12 and/or the insert 11 have a plate-like form, and the overall height can be adjusted as desired.