QR code inertial navigation side traction AGV clamping mechanism

Abstract

The present invention relates to a clamping mechanism for a two-dimensional code inertial navigation side-traction AGV, which is suitable for being arranged in a docking groove of the side-traction AGV, and includes a first side clamping unit and a second side clamping unit; the first side clamping unit and the second side clamping unit are cross-arranged, the middle part is rotatably connected, and the upper part is bent toward each other to form a first clamping part and a second clamping part. The first clamping part and the second clamping part can move toward each other to clamp the bottom of the transport vehicle. The first clamping part and the second clamping part can also move back to back to release the bottom of the transport vehicle. In this way, it is more convenient and quick to connect and disconnect the side-traction AGV with the transport vehicle. Moreover, the first clamping part and the second clamping part are matched, so that the stability of the connection between the side-traction AGV and the transport vehicle is higher. On the whole, the transfer efficiency when the position of the shelf on the transport vehicle is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of two-dimensional code inertial navigation side-traction type AGV, and in particular to a clamping mechanism for a two-dimensional code inertial navigation side-traction type AGV. Background Art

[0002] AGV (Automated Guided Vehicle) refers to a transport vehicle equipped with an electromagnetic or optical automatic guidance device, which can replace manual traction of the transport vehicle, allowing the transport vehicle to travel along the specified guide path with the AGV, and safely and efficiently transfer the transport vehicle on the transport vehicle to the designated location. The QR code inertial navigation side-traction AGV integrates inertial navigation technology and QR code correction technology, and uses side traction to tow the transport vehicle, making the driving path of the AGV and the transport vehicle more accurate.

[0003] At present, how to improve the convenience of connecting and disconnecting AGVs and transport vehicles has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0004] In order to solve the problem of the inconvenience in connecting and disconnecting a traditional two-dimensional code inertial navigation side-traction type AGV with a transport vehicle, the present invention provides a clamping mechanism for a two-dimensional code inertial navigation side-traction type AGV.

[0005] A clamping mechanism for a two-dimensional code inertial navigation side-pull AGV provided in order to achieve the purpose of the present invention is suitable for being arranged in a docking slot of a side-pull AGV, and comprises a first side clamping unit and a second side clamping unit;

[0006] The first side clamping unit and the second side clamping unit are cross-arranged, the middle parts are rotatably connected, and the upper parts are bent toward each other to form a first clamping part and a second clamping part;

[0007] The first clamping portion and the second clamping portion can move toward each other to clamp the bottom of the transport cart, or move away from each other to release the bottom of the transport cart.

[0008] In one of the specific embodiments, the first clamping portion includes a first clamping plate;

[0009] The first clamping plate is a square structure with a clearance groove on the upper part;

[0010] The second clamping portion includes a second clamping plate;

[0011] The second clamping plate is a square structure, and one side surface is arranged opposite to one side surface of the first clamping plate.

[0012] In one of the specific embodiments, the first clamping portion further includes a first buffer sheet;

[0013] The shape of the first buffer sheet matches the shape of the first clamping plate, and is attached to a side surface of the first clamping plate that faces the second clamping plate;

[0014] The second clamping portion further includes a second buffer sheet;

[0015] The shape of the second buffer sheet matches the shape of the second clamping plate, and is fitted to a side surface of the second clamping plate that is opposite to the first clamping plate.

[0016] In one of the specific embodiments, the first side clamping unit includes a first rotating arm and a first connecting shaft;

[0017] There are two first rotating arms, which are arranged opposite to each other; the lower part and the middle part of each first rotating arm are arranged obliquely, and the upper part is arranged vertically;

[0018] Both ends of the first connecting shaft are fixedly connected to the lower parts of the two first rotating arms respectively;

[0019] The second side clamping unit includes a second rotating arm, a second connecting shaft and a third connecting shaft;

[0020] There are two second rotating arms, which are arranged opposite to each other; the two second rotating arms are respectively arranged crosswise with the two first rotating arms, the middle parts are respectively rotatably connected with the middle parts of the two first rotating arms, and the upper parts are both arranged vertically;

[0021] Both ends of the second connecting shaft are fixedly connected to the lower parts of the two second rotating arms respectively;

[0022] The two ends of the third connecting shaft are respectively fixedly connected to the middle parts of the two second rotating arms;

[0023] The two ends of the first clamping plate are respectively fixedly connected to the upper parts of the two first rotating arms;

[0024] The two ends of the second clamping plate are respectively fixedly connected to the upper parts of the two second rotating arms.

[0025] In one of the specific embodiments, the first clamping portion further includes a first fixing strip;

[0026] There are two first fixing bars, which are respectively fixed to the opposite ends of a side surface of the first clamping plate away from the second clamping plate; the two first fixing bars are respectively fixedly connected to the upper parts of the two first rotating arms;

[0027] The second clamping portion also includes a second fixing strip;

[0028] There are two second fixing bars, which are respectively fixed to the opposite ends of a side surface of the second clamping plate away from the first clamping plate; the two second fixing bars are respectively fixedly connected to the upper parts of the two second rotating arms.

[0029] In one specific embodiment, the first connecting shaft is a hollow structure with openings at both ends;

[0030] A first rotating ring is respectively provided at the lower part of the two first rotating arms, and a second rotating ring is respectively provided at the middle part;

[0031] The first side clamping unit also includes a first bearing and a roller;

[0032] There are two first bearings, which are respectively fixed on the opposite sides of the two first rotating rings;

[0033] The roller is inserted into the first connecting shaft, and the outer walls at both ends are fixedly connected to the inner walls of the two first bearings respectively;

[0034] The second connecting shaft and the third connecting shaft are both hollow and have openings at both ends;

[0035] A third rotating ring is respectively provided at the lower part of the two second rotating arms, and a fourth rotating ring is respectively provided at the middle part;

[0036] The second side clamping unit further includes a second bearing, a third bearing, a first rotating shaft, and a second rotating shaft;

[0037] There are two second bearings, which are respectively fixed on the opposite sides of the two third rotating rings;

[0038] There are two third bearings, which are respectively fixed on the opposite sides of the two fourth rotating rings;

[0039] The first rotating shaft is inserted into the second connecting shaft, and the outer walls at both ends are fixedly connected to the inner walls of the two second bearings respectively;

[0040] The second rotating shaft is inserted into the third connecting shaft, and the outer walls at both ends are fixedly connected to the inner walls of the two third bearings respectively; the two ends of the second rotating shaft are also rotatably connected to the two second rotating rings respectively;

[0041] Also includes a support and a guide seat;

[0042] There are two supports, which are respectively arranged on the opposite sides of the lower parts of the two second rotating arms, and the middle parts are respectively provided with mounting holes for the ends of the first rotating shaft to be inserted;

[0043] There are two guide seats, which are respectively arranged at the divergent sides of the lower parts of the two first rotating arms, and the middle parts are respectively provided with guide holes for the ends of the rollers to be inserted.

[0044] In one of the specific embodiments, it also includes a limit detection sensor and a limit detection sheet;

[0045] There are two limit detection sensors, which are fixed on two guide seats respectively;

[0046] There are two limit detection pieces, which are respectively sleeved on the two ends of the roller.

[0047] In one specific embodiment, it also includes a base;

[0048] The base is a square structure, a support is fixed at one end of the top surface, and a guide seat is fixed at the middle of the top surface.

[0049] In one of the specific embodiments, a groove is provided on a side of the bottom of the first side clamping unit away from the bottom of the second side clamping unit;

[0050] It also includes a hinge base and a push rod motor;

[0051] The hinge seat is fixed in the groove;

[0052] The push rod motor is integrally arranged at one side of the bottom of the first side clamping unit away from the bottom of the second side clamping unit, and the output shaft is rotatably connected with the hinge seat.

[0053] Beneficial effects of the present invention: The clamping mechanism for the two-dimensional code inertial navigation side-traction AGV of the present invention is provided with a first side clamping unit and a second side clamping unit, the middle parts of the first side clamping unit and the second side clamping unit are rotatably connected, and the upper parts are bent toward each other to form a first clamping portion and a second clamping portion. The first clamping portion and the second clamping portion can move toward each other to clamp the bottom of the transport vehicle. The first clamping portion and the second clamping portion can also move back to back to release the bottom of the transport vehicle. In this way, it is more convenient and quick to connect and disconnect the side-traction AGV with the transport vehicle. Moreover, the first clamping portion and the second clamping portion are matched, so that the stability of the connection between the side-traction AGV and the transport vehicle is higher. On the whole, the transfer efficiency when the position of the shelf on the transport vehicle is effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a structural schematic diagram of a specific embodiment of a clamping mechanism for a two-dimensional code inertial navigation side-traction type AGV of the present invention;

[0055] Figure 2 yes Figure 1 A structural schematic diagram of a specific embodiment of a first side clamping unit in a clamping mechanism for a QR code inertial navigation side-traction AGV shown;

[0056] Figure 3 yes Figure 2 A structural schematic diagram of a specific embodiment of a second side clamping unit in a clamping mechanism for a QR code inertial navigation side traction type AGV shown;

[0057] Figure 4 Is has Figure 1 The structural schematic diagram of a specific embodiment of a QR code inertial navigation side-traction AGV with a clamping mechanism shown. DETAILED DESCRIPTION

[0058] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0059] Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar symbols throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0060] In the description of the present invention, it is necessary to understand that the orientations or positional relationships indicated by the terms "top", "bottom", "inside", "outside", "axis", "circumferential", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention or simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0061] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0062] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix", "join", "hinge", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4 A clamping mechanism 100 for a QR code inertial navigation side-traction AGV is suitable for being arranged in a docking slot of a side-traction AGV 200, and includes a first side clamping unit 110 and a second side clamping unit 120. The first side clamping unit 110 and the second side clamping unit 120 are cross-arranged, the middle part is rotatably connected, and the upper part is bent toward each other to form a first clamping part 111 and a second clamping part 121. The first clamping part 111 and the second clamping part 121 can move toward each other to clamp the bottom of the transport vehicle, or move away from each other to release the bottom of the transport vehicle.

[0064] In this embodiment, one side of the side-traction AGV 200 is recessed inward to form a docking groove, and the clamping mechanism is arranged in the docking groove, which can clamp the bottom of the transport vehicle. Specifically, the first clamping portion 111 of the first side clamping unit 110 and the second clamping portion 121 of the second clamping unit can move toward each other to clamp the bottom of the transport vehicle. The first clamping portion 111 and the second clamping portion 121 can also move back to back to release the bottom of the transport vehicle. In this way, it is more convenient and quick to connect and disconnect the side-traction AGV with the transport vehicle. Moreover, the first clamping portion 111 and the second clamping portion 121 are matched, so that the stability of the connection between the side-traction AGV and the transport vehicle is higher. On the whole, the transfer efficiency when the position of the shelf on the transport vehicle is effectively improved.

[0065] In a specific embodiment of the present invention, the first clamping portion 111 includes a first clamping plate 1111, which is a square structure and has a clearance groove on the upper part. The clearance groove can structurally avoid the bottom of the transport vehicle. The second clamping portion 121 includes a second clamping plate 1211, which is a square structure, and one side is arranged opposite to one side of the first clamping plate 1111. On the whole, the contact area between the first clamping portion 111 and the bottom of the transport vehicle and the contact area between the second clamping portion 121 and the bottom of the transport vehicle are both large, which greatly improves the stability of the transport vehicle when connected to the two-dimensional code inertial navigation side traction AGV. In addition, the first clamping portion 111 also includes a first buffer sheet 1112, the shape of which is compatible with the shape of the first clamping plate 1111, and is attached to the side of the first clamping plate 1111 opposite to the second clamping plate 1211. The second clamping portion 121 also includes a second buffer sheet 1212, the shape of which matches the shape of the second clamping plate 1211, and is attached to a side of the second clamping plate 1211 that is opposite to the first clamping plate 1111. The first buffer sheet 1112 and the second buffer sheet 1212 can effectively enhance the friction between the first clamping portion 111 and the bottom of the transport vehicle, and between the second clamping portion 121 and the bottom of the transport vehicle, so that the stability of the connection between the first clamping portion 111 and the bottom of the transport vehicle, and between the second clamping portion 121 and the bottom of the transport vehicle is further enhanced. At the same time, the first buffer sheet 1112 and the second buffer sheet 1212 can reduce the wear between the first clamping plate 1111 and the transport vehicle, and between the second clamping plate 1211 and the transport vehicle, effectively extending the service life of the first clamping plate 1111 and the second clamping plate 1211. Specifically, the first buffer sheet 1112 is connected to the first clamping plate 1111 by screwing, and the second buffer sheet 1212 is connected to the second clamping plate 1211 by screwing, so that the first buffer sheet 1112 and the second buffer sheet 1212 are convenient to replace. The first buffer sheet 1112 and the second buffer sheet 1212 are made of rubber or plastic.

[0066] In a specific embodiment of the present invention, the first side clamping unit 110 includes a first rotating arm 112 and a first connecting shaft 113. There are two first rotating arms 112, which are arranged opposite to each other, so that the torque can be transmitted more stably. The lower part and the middle part of each first rotating arm 112 are inclined, and the upper part is arranged vertically. The two ends of the first connecting shaft 113 are respectively fixedly connected to the lower parts of the two first rotating arms 112, so that the two first rotating arms 112 can rotate synchronously and maintain the coordination of the two first rotating arms 112 when rotating. The second side clamping unit 120 includes a second rotating arm 122, a second connecting shaft 123 and a third connecting shaft 124. There are two second rotating arms 122, which are arranged opposite to each other, so that the torque can be transmitted more stably. The two second rotating arms 122 are respectively arranged crosswise with the two first rotating arms 112. The middle parts of the two second rotating arms 122 are respectively rotatably connected to the middle parts of the two first rotating arms 112, and the upper parts are all arranged vertically. The two ends of the second connecting shaft 123 are respectively fixedly connected to the lower parts of the two second rotating arms 122, and the two ends of the third connecting shaft 124 are respectively fixedly connected to the middle parts of the two second rotating arms 122, so that the two second rotating arms 122 can rotate synchronously and maintain the coordination of the two second rotating arms 122 during rotation. The two ends of the first clamping plate 1111 are respectively fixedly connected to the upper parts of the two first rotating arms 112 and can rotate with the first rotating arms 112. The two ends of the second clamping plate 1211 are respectively fixedly connected to the upper parts of the two second rotating arms 122 and can rotate with the second rotating arms 122.

[0067] In a specific embodiment of the present invention, the first clamping portion 111 further includes a first fixing bar 1113, and the number of the first fixing bar 1113 is two, and they are fixed to the opposite ends of a side of the first clamping plate 1111 away from the second clamping plate 1211. The two first fixing bars 1113 are fixedly connected to the upper parts of the two first rotating arms 112, respectively. By adding the first fixing bar 1113, the contact area when the first clamping plate 1111 is connected to the first rotating arm 112 is effectively increased, thereby effectively improving the stability when the first clamping plate 1111 is connected to the first rotating arm 112. The second clamping portion 121 further includes a second fixing bar, and the number of the second fixing bar is two, and they are fixed to the opposite ends of a side of the second clamping plate 1211 away from the first clamping plate 1111. The two second fixing bars are fixedly connected to the upper parts of the two second rotating arms 122, respectively. By adding the second fixing bar, the contact area when the second clamping plate 1211 is connected to the second rotating arm 122 is effectively increased, thereby effectively improving the stability when the second clamping plate 1211 is connected to the second rotating arm 122. On the whole, the modular design is adopted to effectively reduce the manufacturing difficulty of the clamping mechanism and improve the production efficiency of the clamping mechanism. The overall structure is also relatively stable, which is conducive to improving the stability when the clamping mechanism is connected to the transport vehicle. Moreover, the first fixing bar 1113 and the first rotating arm 112 and the second fixing bar and the second rotating arm 122 are connected by screw connection, which is convenient for the replacement and use of the first clamping part 111 and the second clamping part 121.

[0068] In a specific embodiment of the present invention, the first connecting shaft 113 is a hollow structure with two ends open, and a first rotating ring is respectively provided at the lower part of the two first rotating arms 112, and a second rotating ring is respectively provided in the middle part. The first side clamping unit 110 also includes a first bearing 114 and a roller 115, and the first bearing 114 is two, which are respectively fixed to the mutually opposite sides of the two first rotating rings. The roller 115 is inserted into the first connecting shaft 113, and the outer walls of the two ends are respectively fixedly connected to the inner walls of the two first bearings 114. In this way, the first bearing 114, the first rotating ring of the first rotating arm 112 and the first connecting shaft 113 can all rotate around the axis of the roller 115. The second connecting shaft 123 and the third connecting shaft 124 are both hollow structures with two ends open. A third rotating ring is respectively provided at the lower part of the two second rotating arms 122, and a fourth rotating ring is respectively provided in the middle part. The second side clamping unit 120 also includes a second bearing 125, a third bearing 126, a first rotating shaft 127 and a second rotating shaft 128. There are two second bearings 125, which are respectively fixed to the mutually opposite sides of the two third rotating rings. There are two third bearings 126, which are respectively fixed to the mutually opposite sides of the two fourth rotating rings. The first rotating shaft 127 is arranged in the second connecting shaft 123, and the outer walls at both ends are respectively fixedly connected to the inner walls of the two second bearings 125. The second rotating shaft 128 is arranged in the third connecting shaft 124, and the outer walls at both ends are respectively fixedly connected to the inner walls of the two third bearings 126. The two ends of the second rotating shaft 128 are also respectively connected to the two second rotating rings. In this way, the second bearing 125, the third rotating ring of the second rotating arm 122 and the second connecting shaft 123 can all rotate around the axis of the first rotating shaft 127. The third bearing 126, the fourth rotating ring of the second rotating arm 122, the second rotating ring of the first rotating arm 112 and the third connecting shaft 124 can all rotate around the axis of the second rotating shaft 128. The clamping mechanism also includes a support 130 and a guide seat 140. There are two supports 130, which are respectively arranged on the away sides of the lower parts of the two second rotating arms 122, and the middle parts are respectively provided with mounting holes for inserting the ends of the first rotating shaft 127, which can effectively support the first rotating shaft 127. There are two guide seats 140, which are respectively arranged on the away sides of the lower parts of the two first rotating arms 112, and the middle parts are respectively provided with guide holes for inserting the ends of the rollers 115, which can support the rollers 115 and limit the moving direction of the rollers 115. The first rotating ring and the guide seat 140 cooperate to protect the first bearing 114. The third rotating ring cooperates with the support 130 to protect the second bearing 125. The second rotating ring cooperates with the fourth rotating ring to protect the third bearing 126. The overall layout is relatively simple and reasonable, the space occupied is small, and the transmission efficiency is high, so that the connection efficiency and disconnection efficiency of the clamping mechanism and the transport vehicle are high, and then the connection efficiency and disconnection efficiency of the two-dimensional code inertial navigation side traction AGV and the transport vehicle are high.

[0069] In a specific embodiment of the present invention, the clamping mechanism 100 further includes a limit detection sensor 150 and a limit detection piece 160 of a circular plate structure. There are two limit detection sensors 150, which are respectively fixed on the two guide seats 140. There are two limit detection pieces 160, which are respectively sleeved on both ends of the roller 115. In this way, the transmission control accuracy is effectively improved. Specifically, each guide seat 140 is in a "]" structure as a whole, including a top plate, a side plate and a bottom plate. The top of the side plate is fixedly connected to one side of the top plate, the bottom end is fixedly connected to one side of the bottom plate, and the bottom plate is fixedly connected to the base 170, so that the contact area when the guide seat 140 is connected to the base 170 is effectively improved, thereby improving the stability of the connection between the guide seat 140 and the base 170. A guide hole is provided on the side plate. The limit detection sensor 150 is fixed on the top plate and the side plate. Specifically, a threaded hole is provided on the top plate, and in addition, a position adjustment hole is provided on the top of the limit detection sensor 150. The top plate and the position limit detection sensor 150 are fixedly connected by screws through the threaded holes and the position adjustment holes. In this way, it is not only convenient to install, use, disassemble and replace the position limit detection sensor 150, but also convenient to adjust the position of the position limit detection sensor 150. The two position limit detection sheets 160 are respectively arranged on the two side plates of the two guide seats 140 that are away from each other.

[0070] In a specific embodiment of the present invention, the clamping mechanism 100 further includes a base 170, which can effectively support and fix the first side clamping unit 110, the second side clamping unit 120 and the push rod motor 180. Specifically, the base 170 is a square structure, with a support 130 fixed at one end of the top surface, a guide seat 140 fixed at the middle of the top surface, and a motor mounting seat fixed at the other end of the top surface. The base 170 is respectively connected to the support 130, the guide seat 140, and the motor mounting seat by screw connection, so as to facilitate the installation, use, disassembly and replacement of the support 130, the guide seat 140 and the motor mounting seat.

[0071] In a specific embodiment of the present invention, a groove is provided on one side of the bottom of the first side clamping unit 110 away from the bottom of the second side clamping unit 120. The clamping mechanism also includes a hinge seat 116, a push rod motor 180 and a central processing unit. Specifically, a groove is provided on one side of the first connecting shaft 113 away from the second connecting shaft 123, and the hinge seat 116 is provided in the groove and is connected to the first connecting shaft 113 by a screw connection. The push rod motor 180 is integrally provided on one side of the bottom of the first side clamping unit 110 away from the bottom of the second side clamping unit 120, and the output shaft is rotatably connected to the hinge seat 116 through a pin. The push rod motor 180 can drive the first connecting shaft 113 and the roller 115 to move along the guide hole on the guide seat 140. A mounting block is provided at one end of the push rod motor 180 away from the hinge seat 116, and the mounting hole is fixedly connected to the motor mounting seat, so that the push rod motor 180 is fixedly connected to the base 170, ensuring the stability of the position of the push rod motor 180, thereby ensuring the transmission efficiency. The central processor is electrically connected to the push rod motor 180 and the limit detection sensor 150 respectively, and the central processor controls whether the push rod motor 180 and the limit detection sensor 150 are working. It should be pointed out that the central processor, the push rod motor 180 and the limit detection sensor 150 are all powered by the power supply of the AGV. The principle of the central processor controlling the push rod motor 180 and the limit detection sensor 150 to work is the existing technology and will not be repeated here.

[0072] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", "one specific embodiment" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0073] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and the inventive concept of the present invention within the scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A clamping mechanism for a two-dimensional code inertial navigation side-traction AGV, characterized in that: Suitable for installation in the docking slot of side-pulling AGV, including: a first side clamping unit and a second side clamping unit; The first side clamping unit and the second side clamping unit are cross-arranged, the middle parts are rotatably connected, and the upper parts are bent toward each other to form a first clamping part and a second clamping part; The first clamping portion and the second clamping portion can move toward each other to clamp the bottom of the transport vehicle, or move away from each other to release the bottom of the transport vehicle; The first clamping portion includes a first clamping plate; The first clamping plate is a square structure with a clearance groove on the upper part; the second clamping part includes a second clamping plate; The second clamping plate is a square structure, and one side surface is arranged opposite to one side surface of the first clamping plate; The first side clamping unit includes a first rotating arm and a first connecting shaft; There are two first rotating arms, which are arranged opposite to each other; the lower part and the middle part of each first rotating arm are arranged obliquely, and the upper part is arranged vertically; The two ends of the first connecting shaft are respectively fixedly connected to the lower parts of the two first rotating arms; the second side clamping unit includes a second rotating arm, a second connecting shaft and a third connecting shaft; There are two second rotating arms, which are arranged opposite to each other; the two second rotating arms are respectively arranged crosswise with the two first rotating arms, the middle parts are respectively rotatably connected with the middle parts of the two first rotating arms, and the upper parts are both arranged vertically; The two ends of the second connecting shaft are respectively fixedly connected to the lower parts of the two second rotating arms; the two ends of the third connecting shaft are respectively fixedly connected to the middle parts of the two second rotating arms; the two ends of the first clamping plate are respectively fixedly connected to the upper parts of the two first rotating arms; the two ends of the second clamping plate are respectively fixedly connected to the upper parts of the two second rotating arms; The first connecting shaft is a hollow structure with openings at both ends; The lower parts of the two first rotating arms are respectively provided with a first rotating ring, and the middle parts are respectively provided with a second rotating ring; the first side clamping unit also includes a first bearing and a roller; There are two first bearings, which are respectively fixed on the opposite sides of the two first rotating rings; The roller is inserted into the first connecting shaft, and the outer walls at both ends are fixedly connected to the inner walls of the two first bearings respectively; The second connecting shaft and the third connecting shaft are both hollow and have openings at both ends; The lower parts of the two second rotating arms are respectively provided with a third rotating ring, and the middle parts are respectively provided with a fourth rotating ring; the second side clamping unit also includes a second bearing, a third bearing, a first rotating shaft and a second rotating shaft; There are two second bearings, which are respectively fixed on the opposite sides of the two third rotating rings; there are two third bearings, which are respectively fixed on the opposite sides of the two fourth rotating rings; The first rotating shaft is inserted into the second connecting shaft, and the outer walls at both ends are fixedly connected to the inner walls of the two second bearings respectively; The second rotating shaft is inserted into the third connecting shaft, and the outer walls at both ends are fixedly connected to the inner walls of the two third bearings respectively; the two ends of the second rotating shaft are also rotatably connected to the two second rotating rings respectively; Also includes a support and a guide seat; The number of the supports is two, which are respectively arranged on the opposite sides of the lower parts of the two second rotating arms, and the middle parts are respectively provided with mounting holes for inserting the ends of the first rotating shaft; There are two guide seats, which are respectively arranged on the opposite sides of the lower parts of the two first rotating arms, and the middle parts are respectively provided with guide holes for the ends of the rollers to be inserted; The first clamping portion further includes a first buffer sheet; The shape of the first buffer sheet matches the shape of the first clamping plate, and is attached to a side of the first clamping plate that faces the second clamping plate; The second clamping portion further includes a second buffer sheet; The shape of the second buffer sheet matches that of the second clamping plate, and is attached to a side surface of the second clamping plate that faces the first clamping plate.

2. The clamping mechanism for the two-dimensional code inertial navigation side-traction AGV according to claim 1 is characterized in that: The first clamping portion further includes a first fixing strip; There are two first fixing bars, which are respectively fixed to the opposite ends of a side surface of the first clamping plate away from the second clamping plate; the two first fixing bars are respectively fixedly connected to the upper parts of the two first rotating arms; The second clamping portion further includes a second fixing strip; There are two second fixing bars, which are respectively fixed to the opposite ends of a side surface of the second clamping plate away from the first clamping plate; the two second fixing bars are respectively fixedly connected to the upper parts of the two second rotating arms.

3. The clamping mechanism for the two-dimensional code inertial navigation side-traction AGV according to claim 1 is characterized in that: It also includes a limit detection sensor and a limit detection sheet; There are two limit detection sensors, which are respectively fixed on the two guide seats; there are two limit detection sheets, which are respectively sleeved on the two ends of the roller.

4. The clamping mechanism for the two-dimensional code inertial navigation side-traction AGV according to claim 1 is characterized in that: Also includes a base; The base is a square structure, one end of the top surface is fixed with the support, and the middle part of the top surface is fixed with the guide seat.

5. The clamping mechanism for a two-dimensional code inertial navigation side-traction AGV according to any one of claims 1 to 4, characterized in that: A groove is provided on a side of the bottom of the first side clamping unit away from the bottom of the second side clamping unit; It also includes a hinge base and a push rod motor; The hinge seat is fixed in the groove; The push rod motor is integrally arranged on a side of the bottom of the first side clamping unit away from the bottom of the second side clamping unit, and the output shaft is rotatably connected to the hinge seat.

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