AGV lifting and clamping mechanism

Abstract

The present invention discloses an AGV lifting and clamping mechanism, comprising a lifting module, a lifting guide module, a connecting rod clamping module, a wire pulley block and a connecting rod lifting and guiding module, wherein the top of the lifting module is fixedly connected with the connecting rod clamping module, the bottom of the lifting module is installed with the lifting guide module, the lifting guide module comprises a guide shaft seat, a guide shaft, a linear bearing, a lifting frame and an AGV body frame, and the bottom of the AGV body frame is fixedly connected with the linear bearing; through the coordinated use of the lifting module, the lifting guide module, the connecting rod clamping module, the wire pulley block and the connecting rod lifting and guiding module, the synchronous action of lifting and clamping can be realized when the AGV transports the material rack, and the problem of the material rack being displaced or even falling on the vehicle body due to inertia in the case of vehicle acceleration, deceleration and emergency braking is solved during the transportation process, which affects the final placement accuracy of the material rack and even interrupts the transportation task.

Description

Technical Field

[0001] The invention relates to the field of lifting and clamping mechanisms, in particular to an AGV lifting and clamping mechanism. Background Art

[0002] Automated Guided Vehicle - AGV refers to a transport vehicle equipped with an electromagnetic or optical automatic guidance device that can travel along a specified guidance path and has safety protection and various transfer functions. AGV belongs to the category of wheeled mobile robots. In industrial applications, a transport vehicle that does not require a driver uses a rechargeable battery as its power source. Generally, its route and behavior can be controlled by a computer, or its route can be set using an electromagnetic track. The electromagnetic track is attached to the floor, and the unmanned transport vehicle moves and acts according to the information brought by the electromagnetic track;

[0003] As one of the core functional components of AGV, the lifting structure is installed in the vehicle body and has the characteristics of compact structure. However, the lifting structure currently does not have the ability to clamp the material rack, which makes it easy to be dangerous during the handling process. In addition, the material rack cannot be placed accurately, which makes it easy to scatter or shake during transportation. For this reason, we proposed an AGV lifting and clamping mechanism. Summary of the invention

[0004] The purpose of the present invention is to provide an AGV lifting and clamping mechanism to solve the problem mentioned in the above background technology that the current lifting structure does not have the ability to clamp material racks, making it easy to be dangerous during transportation, and the racks cannot be placed accurately, resulting in easy scattering or shaking during transportation.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an AGV lifting and clamping mechanism, comprising a lifting module, a lifting guide module, a connecting rod clamping module, a wire pulley block and a connecting rod lifting guide module, the top of the lifting module is fixedly connected with the connecting rod clamping module, the bottom of the lifting module is installed with a lifting guide module, the lifting guide module comprises a guide shaft seat, a guide shaft, a linear bearing, a lifting frame and an AGV body frame, the bottom of the AGV body frame is fixedly connected with a linear bearing, the top of the AGV body frame is installed with a lifting frame, guide shafts are installed on both sides of the top of the linear bearing, one end of the guide shaft away from the guide shaft seat passes through the linear bearing and is connected to the lifting frame, the guide shaft is located at one end of the guide shaft on the surface of the lifting frame with a guide shaft seat, a wire pulley block is installed between the lifting module and the lifting guide module, and a connecting rod lifting guide module is installed on the top of the wire pulley block and at the bottom of the lifting module.

[0006] Preferably, a lower connecting rod base is installed at the bottom of the jacking frame, and three connecting rods are rotatably connected on both sides of the surface of the lower connecting rod base. One end of the three-link rod away from the lower connecting rod base passes through the jacking frame and extends to the top of the jacking frame. An upper connecting rod base is installed at one end of the three-link rod located at the top of the jacking frame, and the upper connecting rod base is fixedly connected to the jacking frame.

[0007] Preferably, a central guide shaft penetrates the surface of the jacking frame, a compression spring is sleeved on the surface of the central guide shaft, and connecting rod guide blocks are arranged on both sides of the central guide shaft.

[0008] Preferably, the number of the linear bearings is four, and the four linear bearings are all fixed on the top of the AGV body frame; the number of the guide shaft seats is four, and the four guide shaft seats are all fixed on the top of the lifting frame.

[0009] Preferably, the number of the guide shafts is four, the four guide shafts are connected to the guide shaft seats, and the guide shafts move up and down in the linear bearings.

[0010] Preferably, there are four groups of three-link rods, the four groups of three-link rods are distributed at 90 degrees, and the four groups of three-link rods are connected by pins.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: through the coordinated use of the jacking module, the jacking guide module, the connecting rod clamping module, the wire pulley block and the connecting rod lifting guide module, the synchronous action of jacking and clamping can be realized when the AGV transports the material rack, and the problem of the material rack being displaced or even falling on the vehicle body due to inertia when the vehicle accelerates, decelerates or emergency brakes during transportation is solved, which affects the final placement accuracy of the material rack and even interrupts the transportation task. The problem is effectively solved that the current jacking structure does not have the ability to clamp the material rack, making it prone to danger during transportation, and the material rack cannot be placed accurately, resulting in easy scattering or shaking during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural schematic diagram of the present invention;

[0013] Figure 2 It is a bottom view structural schematic diagram of the present invention;

[0014] Figure 3 It is a schematic diagram of the AGV body frame structure of the present invention.

[0015] In the figure: 1. Lifting module; 2. Lifting guide module; 201. Guide shaft seat; 202. Guide shaft; 203. Linear bearing; 204. Lifting frame; 205. AGV body frame; 3. Connecting rod clamping module; 301. Lower connecting rod base; 302. Three-connecting rod; 303. Upper connecting rod base; 4. Wire pulley block; 5. Connecting rod lifting guide module; 501. Center guide shaft; 502. Compression spring; 503. Connecting rod guide block. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] See also Figure 1-3The present invention provides a technical solution: an AGV lifting and clamping mechanism, comprising a lifting module 1, a lifting guide module 2, a connecting rod clamping module 3, a wire pulley block 4 and a connecting rod lifting and guiding module 5, wherein the top of the lifting module 1 is fixedly connected with the connecting rod clamping module 3, the bottom of the lifting module 1 is equipped with the lifting guide module 2, the lifting guide module 2 comprises a guide shaft seat 201, a guide shaft 202, a linear bearing 203, a lifting frame 204 and an AGV body frame 205, the bottom of the AGV body frame 205 is fixedly connected with the linear bearing 203, the top of the AGV body frame 205 is equipped with the lifting frame 204, the surface of the lifting frame 204 is penetrated by a central guide shaft 501, and the surface of the central guide shaft 501 is sleeved A compression spring 502 is provided, connecting rod guide blocks 503 are provided on both sides of the central guide shaft 501, guide shafts 202 are installed on both sides of the top of the linear bearing 203, the number of the guide shafts 202 is four, and the four guide shafts 202 are connected to the guide shaft seats. The guide shaft 202 moves up and down in the linear bearing 203, and the end of the guide shaft 202 away from the guide shaft seat 201 passes through the linear bearing 203 and is connected to the lifting frame 204. The number of the linear bearings 203 is four, and the four linear bearings 203 are all fixed to the top of the AGV body frame 205. The number of the guide shaft seats 201 is four, and the four guide shaft seats 201 are all fixed to the top of the lifting frame 204. The guide shaft 202 is positioned A guide shaft seat 201 is installed at one end of the surface of the jacking frame 204, and a lower connecting rod base 301 is installed at the bottom of the jacking frame 204. The lower connecting rod base 301 is connected with a rotating three-link rod 302 by pins around it. The three-link rod 302 is installed around the lower connecting rod base 301 and extends to the top of the jacking frame 204. There are four groups of three-link rods 302, and the four groups of three-link rods 302 are distributed at ninety degrees. The four groups of three-link rods 302 are connected by pins. An upper connecting rod base 303 is installed at one end of the three-link rod 302 located at the top of the jacking frame 204, and the upper connecting rod base 303 is fixedly connected to the jacking frame 204. A wire pulley block 4 is installed between the jacking module 1 and the jacking guide module 2. A connecting rod lifting guide module 5 is installed at the top of the pulley block 4 and at the bottom of the jacking module 1. Through the coordinated use of the jacking module 1, the jacking guide module 2, the connecting rod clamping module 3, the wire pulley block 4 and the connecting rod lifting guide module 5, the synchronous action of jacking and clamping can be achieved when the AGV transports the material rack. In the transportation process, the problem of the material rack being displaced or even falling on the vehicle body due to inertia when the vehicle accelerates, decelerates, or performs emergency braking is solved, which affects the final placement accuracy of the material rack and even interrupts the transportation task. This effectively solves the problem that the current jacking structure does not have the ability to clamp the material rack, making it prone to danger during transportation, and the material rack cannot be placed accurately, resulting in easy scattering or shaking during transportation.

[0018] Working principle: when the lifting module 1 rises, one end of the lifting module 1 is fixed to the AGV body frame 205, and the other end is fixed to the three-link rod 302. The wire rope on the middle rod changes the wire rope at a certain symmetrical angle through the wire pulley group 4, and applies a certain pulling force to the middle link of the three-link rod 302. The three-link rod 302 changes its shape under the outward pulling force of the wire rope. Under the restriction of the freedom of the link guide block 503 in the link lifting guide module 5, the upper link is changed from the horizontal direction to the ninety-degree direction, thereby clamping the material rack. At this time, the compression spring 502 on the center guide shaft 501 is in a highly compressed state. When the top module descends, the compression spring 502 releases the elastic force downward, so that the upper link changes from the ninety-degree shape to the horizontal, thereby releasing the clamped material rack, thereby effectively avoiding the current lifting structure not having the ability to clamp the material rack, making it easy to be dangerous during the transportation process, and the rack cannot be placed accurately, resulting in easy scattering or shaking during transportation.

[0019] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An AGV lifting and clamping mechanism, comprising a lifting module (1), a lifting guide module (2), a connecting rod clamping module (3), a wire pulley block (4) and a connecting rod lifting and guiding module (5), characterized in that: The top of the lifting module (1) is fixedly connected to a connecting rod clamping module (3); the bottom of the lifting module (1) is installed with a lifting guide module (2); the lifting guide module (2) comprises a guide shaft seat (201), a guide shaft (202), a linear bearing (203), a lifting frame (204) and an AGV body frame (205); the bottom of the AGV body frame (205) is fixedly connected to a linear bearing (203); the top of the AGV body frame (205) is installed with a lifting frame (204); the linear bearing A guide shaft (202) is installed in the middle of each of the two lifting modules (203); one end of the guide shaft (202) away from the guide shaft seat (201) passes through the linear bearing (203) and is connected to the lifting frame (204); one end of the guide shaft (202) located on the surface of the lifting frame (204) is installed with a guide shaft seat (201); a wire pulley block (4) is installed between the lifting module (1) and the lifting guide module (2); a connecting rod lifting guide module (5) is installed at the top of the wire pulley block (4) and at the bottom of the lifting module (1); A lower connecting rod base (301) is installed at the bottom of the jacking frame (204); the lower connecting rod base (301) is connected to a rotating three-connecting rod (302) via pins around the four sides; the three-connecting rod (302) is installed around the four sides of the lower connecting rod base (301) and extends to the top of the jacking frame (204); an upper connecting rod base (303) is installed at one end of the three-connecting rod (302) located at the top of the jacking frame (204); and the upper connecting rod base (303) is fixedly connected to the jacking frame (204); A central guide shaft (501) passes through the surface of the lifting frame (204), a compression spring (502) is sleeved on the surface of the central guide shaft (501), and connecting rod guide blocks (503) are arranged on both sides of the central guide shaft (501); There are four groups of three-link rods (302), the four groups of three-link rods (302) are all distributed at 90 degrees, and the four groups of three-link rods (302) are connected by pins; When the lifting module (1) rises, one end of the lifting module (1) is fixed to the AGV body frame (205), and the other end is fixed to the three-link rod (302). The steel wire rope on the middle rod changes the steel wire rope at a certain symmetrical angle through the steel wire pulley block (4), and applies a certain pulling force to the middle link of the three-link rod (302). The three-link rod (302) changes its shape under the outward pulling force of the steel wire rope. Under the restriction of the degree of freedom of the link guide block (503) in the link lifting guide module (5), the upper link rod changes from a horizontal direction to a ninety-degree direction, thereby clamping the material rack. At this time, the compression spring (502) on the central guide shaft (501) is in a highly compressed state. When the lifting module descends, the compression spring (502) releases its elastic force downward, so that the upper link rod changes from a ninety-degree shape to a horizontal shape, thereby releasing the clamped material rack.

2. The AGV lifting and clamping mechanism according to claim 1 is characterized in that: The number of the linear bearings (203) is four, and the four linear bearings (203) are all fixed on the top of the AGV body frame (205); the number of the guide shaft seats (201) is four, and the four guide shaft seats (201) are all fixed on the top of the lifting frame (204).

3. The AGV lifting and clamping mechanism according to claim 1 is characterized in that: The number of the guide shafts (202) is four, the four guide shafts (202) are connected to the guide shaft seat, and the guide shafts (202) move up and down in the linear bearing (203).

Images