Grabbing assembly and remains carrying AGV

Abstract

The utility model belongs to the technical field of remains carrying equipment, and provides a grabbing assembly which comprises a fixed guide rail, a movable guide rail and a grabbing mechanism. The sliding guide rail is arranged on the fixed guide rail and can do reciprocating rectilinear motion in the length direction of the fixed guide rail; the sliding seat is arranged on the sliding guide rail and can do reciprocating rectilinear motion along the length direction of the sliding guide rail; the grabbing structure is arranged on the sliding seat and used for grabbing or releasing the stretcher; the driving structure is in transmission connection with the sliding guide rail and used for driving the sliding guide rail to move; and the synchronous structure is in transmission connection with the sliding base, in the working state, the driving structure applies acting force to the sliding base through the synchronous structure so as to drive the sliding base to do reciprocating linear motion between the third position and the fourth position, and the utility model further provides the remains carrying AGV which comprises the grabbing assembly. The grabbing assembly and the remains carrying AGV are simple in structure, reasonable in design and low in electric energy consumption.

Description

Technical Field

[0001] The utility model relates to the technical field of corpse handling equipment, in particular to a grasping assembly and a corpse handling AGV. Background Art

[0002] The corpse handling AGV is used for handling corpses in a funeral parlor, and includes an AGV main body and a grasping assembly arranged on the AGV main body for pushing a stretcher containing a corpse into a refrigerated cabinet or pulling the stretcher out of the refrigerated cabinet.

[0003] As Figure 1 shown, in the prior art, the utility model patent with the authorization announcement number of CN220842317U provides a grasping assembly, which includes a grasping mechanism and a third driving mechanism; the grasping mechanism can make a reciprocating linear motion between a first working position C and a second working position C along the Y-axis direction, and includes: a telescopic structure, the first end of which is fixedly connected with the power output end of the third driving mechanism, and the second end extends towards the direction close to the second end of the bearing assembly; and a grasping structure, which is arranged at the second end of the telescopic structure and is used for grasping the stretcher; the third driving mechanism is arranged on the bearing assembly, and its power output end is in transmission connection with the power input end of the grasping mechanism, and is used for driving the grasping mechanism to make a reciprocating linear motion between the first working position C and the second working position C. By arranging the grasping structure at the free end of the telescopic structure, the purpose of increasing the grasping range is achieved.

[0004] However, it needs the combined action of the third driving mechanism and the telescopic structure to achieve the purpose of increasing the grasping range, with a complex structure and two power sources, resulting in a large power consumption. Summary of the Utility Model

[0005] Aiming at the defects in the prior art, the purpose of the utility model is to provide a grasping assembly and a corpse handling AGV to solve or alleviate the above technical problems existing in the prior art.

[0006] To achieve the above purpose, on the one hand, the utility model provides a grasping assembly, which is arranged on the AGV main body and is used for grasping the stretcher and moving the stretcher to the AGV main body or moving the stretcher from the AGV main body to a target position, and includes:

[0007] A fixed guide rail, which is arranged on the AGV main body and whose length direction is consistent with the length direction of the AGV main body;

[0008] A sliding guide rail, which is arranged on the fixed guide rail and can make a reciprocating linear motion between a first position and a second position along the length direction of the fixed guide rail;

[0009] A sliding seat is arranged on the sliding guide rail and can perform reciprocating linear motion between a third position and a fourth position along the length direction of the sliding guide rail;

[0010] A grasping structure is arranged on the sliding seat and can move together with the sliding seat, and is used for grasping or releasing the stretcher;

[0011] A driving structure is in transmission connection with the sliding guide rail and is used for driving the sliding guide rail to perform reciprocating linear motion between the first position and the second position; and

[0012] A synchronization structure is in transmission connection with the sliding seat. In the working state, the driving structure applies a force to the sliding seat through the synchronization structure to drive the sliding seat to perform reciprocating linear motion between the third position and the fourth position.

[0013] Further, the synchronization structure includes:

[0014] A first guiding element is arranged at the first end of the sliding guide rail and is rotatably connected to the sliding guide rail;

[0015] A first synchronization element, its first end is connected to the sliding seat, and its second end is connected to the fixed guide rail after bypassing the first guiding element;

[0016] A second guiding element is arranged at the second end of the sliding guide rail and is rotatably connected to the sliding guide rail; and

[0017] A second synchronization element, its first end is connected to the sliding seat, and its second end is connected to the fixed guide rail after bypassing the first guiding element.

[0018] Further, the grasping structure includes:

[0019] A grasping member, its first end is hinged to the sliding seat, its second end can swing reciprocally between a fifth position and a sixth position around its hinge center line, and its bottom has a groove that cooperates with the grasping rod of the stretcher; and

[0020] A driving device is arranged on the sliding seat and is in transmission connection with the grasping member. In the working state, it drives the grasping member to the fifth position so that the side walls at the front and rear ends of the groove can contact the grasping rod of the target stretcher, and it drives the grasping member to the sixth position so that the side wall at the front end of the groove cannot contact the grasping rod of the target stretcher.

[0021] Further, the grasping structure further includes a grasping arm. The first end of the grasping arm is connected to the sliding seat, the second end extends towards the front side of the AGV main body, and the grasping member is arranged at the second end of the grasping arm and is hinged to the grasping arm.

[0022] Further, a plurality of grasping arms are provided, and the plurality of grasping arms are sequentially arranged at intervals along the width direction of the AGV main body.

[0023] Further, a plurality of grasping members are provided, and the plurality of grasping members are sequentially arranged at intervals along the width direction of the AGV main body.

[0024] Further, the grasping assembly further includes a detection assembly, the detection assembly is arranged on the grasping member and the sliding seat, and the detection assembly is used to detect the position of the grasping member. In the working state, when the detection assembly detects that the grasping member moves to the fifth position and / or the sixth position, the controller controls the driving device to close.

[0025] Further, the detection assembly includes:

[0026] An induction sheet, which is arranged on the grasping member and can move together with the grasping member; and

[0027] An induction element, which is arranged on the sliding seat. In the working state, when the induction element corresponds to the induction sheet, the controller controls the driving device to close.

[0028] Further, the driving structure includes:

[0029] Two transmission wheels are provided, and the two transmission wheels are sequentially arranged at intervals along the length direction of the fixed guide rail and are rotatably connected to the fixed guide rail;

[0030] A driving element, which is sleeved on the two transmission wheels and can rotate with the rotation of the transmission wheels, and is in transmission connection with the sliding guide rail; and

[0031] A driving motor, which is arranged on the AGV main body and is in transmission connection with one of the two transmission wheels.

[0032] On the other hand, the present utility model further provides a corpse handling AGV, including an AGV main body, and further including the grasping assembly described in any one of the above, and the grasping assembly is arranged on the AGV main body.

[0033] Advantages of the present utility model:

[0034] The grasping assembly and the corpse handling AGV provided by the present utility model are provided with a synchronization structure, so that in the process of the driving structure driving the sliding guide rail to move, the sliding seat can be applied with a force through the synchronization structure, so as to achieve the purpose of driving the sliding seat to move. The structure is simple, the design is reasonable, and the power consumption is small. Description of the drawings

[0035] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally denoted by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0036] Figure 1 A perspective view of a grasping assembly in the prior art;

[0037] Figure 2 A perspective view of a corpse handling AGV provided by an embodiment of the present invention;

[0038] Figure 3 For Figure 2 An enlarged view of part A shown;

[0039] Figure 4 A perspective view of a grasping assembly provided by an embodiment of the present invention;

[0040] Figure 5 For Figure 4 An enlarged view of part B shown;

[0041] Figure 6 For Figure 4 An enlarged view of part C shown;

[0042] Figure 7 For Figure 4 An enlarged view of part D shown;

[0043] Figure 8 For Figure 7 An enlarged view of part E shown;

[0044] Figure 9 For Figure 4 Another perspective view of the grasping assembly provided;

[0045] Figure 10 For Figure 9 An enlarged view of part F shown;

[0046] Figure 11 For Figure 9 An enlarged view of part G shown;

[0047] Figure 12 For Figure 9 An enlarged view of part H shown.

[0048] Reference numerals:

[0049] 100, AGV main body; 200, fixed guide rail; 300, sliding guide rail; 400, sliding seat; 510, first guiding element; 520, first synchronizing element; 530, second guiding element; 540, second synchronizing element; 610, gripping member; 611, groove 611; 620, driving device; 630, gripping arm; 710, driving wheel; 720, driving element; 730, driving motor; 810, sensing piece; 820, sensing element; 900, stretcher; 910, gripping rod. Detailed implementation manners

[0050] The embodiments of the technical solution of the present utility model will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solution of the present utility model more clearly, and therefore are only examples and cannot be used to limit the protection scope of the present utility model.

[0051] It should be noted that unless otherwise specified, the technical terms or scientific terms used in this application should have the ordinary meanings understood by those skilled in the art to which the present utility model belongs.

[0052] In the description of this application, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and 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 to the present utility model.

[0053] In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. In the description of the present utility model, "a plurality of" means two or more unless otherwise specifically defined.

[0054] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0055] In this application, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply indicates that the horizontal height of the first feature is less than that of the second feature.

[0056] As Figure 2 , 3 shown, the present utility model provides a corpse handling AGV, which includes an AGV main body 100 and a grasping assembly arranged on the AGV main body 100. The grasping assembly is used to grasp a stretcher 900 (so that the stretcher 900 can be moved by the grasping assembly) and move the stretcher 900 onto the AGV main body 100 or move the stretcher 900 from the AGV main body 100 to a target position.

[0057] As Figure 4 - 12 shown, in this embodiment, the grasping assembly includes a fixed guide rail 200, a sliding guide rail 300, a sliding seat 400, a grasping structure, a driving structure and a synchronization structure.

[0058] Among them, the fixed guide rail 200 is arranged on the AGV main body 100. In this embodiment, the fixed guide rail 200 is arranged on the top of the AGV main body 100, and the fixed guide rail 200 is fixedly connected to the AGV main body 100. The length direction of the fixed guide rail 200 is consistent with the length direction of the AGV main body 100.

[0059] The sliding guide rail 300 is arranged on the fixed guide rail 200. In this embodiment, the sliding guide rail 300 is arranged on the top of the fixed guide rail 200, and the sliding guide rail 300 is slidably connected to the fixed guide rail 200. The length direction of the sliding guide rail 300 is consistent with the length direction of the fixed guide rail 200. The sliding guide rail 300 can make a reciprocating linear motion between a first position and a second position along the length direction of the fixed guide rail 200.

[0060] Specifically, in this embodiment, when the sliding guide rail 300 is in the first position, the sliding guide rail 300 is located at the first end of the fixed guide rail 200 (that is, the end of the fixed guide rail 200 far from the head of the AGV main body 100). When the sliding guide rail 300 is in the second position, the sliding guide rail 300 is located at the second end of the fixed guide rail 200 (that is, the end of the fixed guide rail 200 facing the head of the AGV main body 100) and extends outward from the second end of the fixed guide rail 200.

[0061] The sliding seat 400 is arranged on the sliding guide rail 300, and the sliding seat 400 is slidably connected to the sliding guide rail 300. The sliding seat 400 can make a reciprocating linear motion between a third position and a fourth position along the length direction of the sliding guide rail 300. Specifically, when the sliding seat 400 is in the third position, the sliding seat 400 is located at the first end of the sliding guide rail 300 (i.e., the end of the sliding guide rail 300 facing the rear side of the AGV main body 100), and when the sliding seat 400 is in the second position, the sliding seat 400 is located at the second end of the sliding guide rail 300 (i.e., the end of the sliding guide rail 300 facing the front side of the AGV main body 100).

[0062] The grasping structure is arranged on the sliding seat 400. The grasping structure can move together with the sliding seat 400, and the grasping structure is used for grasping or releasing the stretcher 900.

[0063] The driving structure is arranged on the AGV main body 100, and the driving structure is in transmission connection with the sliding guide rail 300. The driving structure is used for driving the sliding guide rail 300 to make a reciprocating linear motion between a first position and a second position.

[0064] The synchronization structure is in transmission connection with the sliding seat 400. In the working state, when the driving structure drives the sliding guide rail 300 to move, a force is applied to the sliding seat 400 through the synchronization structure to drive the sliding seat 400 to make a reciprocating linear motion between a third position and a fourth position.

[0065] As Figure 4 、 7 Shown in Figures 9 and 12, the synchronization structure includes a first guiding element 510, a first synchronization element 520, a second guiding element 530, and a second synchronization element 540.

[0066] The first guiding element 510 is arranged at the first end of the sliding guide rail 300 and is rotatably connected to the sliding guide rail 300. The first end of the first synchronization element 520 is connected to the sliding seat 400, and the second end is connected to the fixed guide rail 200 after bypassing the first guiding element 510.

[0067] The second guiding element 530 is arranged at the second end of the sliding guide rail 300 and is rotatably connected to the sliding guide rail 300. The first end of the second synchronization element 540 is connected to the sliding seat 400, and the second end is connected to the fixed guide rail 200 after bypassing the first guiding element 510.

[0068] During use, when the sliding guide rail 300 moves from the first position to the second position, the sliding guide rail 300 moves forward relative to the AGV main body 100. The second guiding element 530 moves forward together with the sliding guide rail 300, so that the distance between the second guiding element 530 and the second end of the second synchronizing element 540 becomes longer. Since the length of the second synchronizing element 540 remains unchanged, the second synchronizing element 540 will pull the sliding seat 400 to move from the third position to the fourth position (i.e., move forward relative to the AGV main body 100).

[0069] Meanwhile, when the sliding guide rail 300 moves forward relative to the AGV main body 100, the first guiding element 510 moves forward together with the sliding guide rail 300, so that the distance between the first guiding element 510 and the second end of the first synchronizing element 520 becomes shorter. However, since the sliding seat 400 moves forward relative to the AGV main body 100, the distance between the first end of the first synchronizing element 520 and the first guiding element 510 increases. Since the length of the first synchronizing element 520 remains unchanged, the first synchronizing element can still be kept in a tensioned state.

[0070] When the sliding guide rail 300 moves from the second position to the first position, the sliding guide rail 300 moves backward relative to the AGV main body 100. The first guiding element 510 moves backward together with the sliding guide rail 300, so that the distance between the first guiding element 510 and the second end of the first synchronizing element 520 becomes longer. Since the length of the first synchronizing element 520 remains unchanged, the first synchronizing element 520 will pull the sliding seat 400 to move from the fourth position to the third position (i.e., move backward relative to the AGV main body 100).

[0071] Meanwhile, when the sliding guide rail 300 moves backward relative to the AGV main body 100, the second guiding element 530 moves backward together with the sliding guide rail 300, so that the distance between the second guiding element 530 and the second end of the second synchronizing element 540 becomes shorter. However, since the sliding seat 400 moves backward relative to the AGV main body 100, the distance between the first end of the second synchronizing element 540 and the second guiding element 530 increases. Since the length of the second synchronizing element 540 remains unchanged, the second synchronizing element can still be kept in a tensioned state.

[0072] Specifically, the first guiding element 510 and the second guiding element 530 can be guide wheels, such as belt wheels, sprocket wheels, fixed pulleys, etc. The first synchronizing element 520 and the second synchronizing element 540 can be synchronous belts corresponding to the belt wheels, synchronous chains corresponding to the sprocket wheels, pull ropes corresponding to the fixed pulleys, etc.

[0073] Such as Figure 4 、7 As shown in FIGS. 9 and 12, in this embodiment, the first guiding element 510 and the second guiding element 530 are pulleys, and the first synchronizing element 520 and the second synchronizing element 540 are timing belts.

[0074] As Figure 3 、 7 shown in FIGS. 、 and 12, the grasping structure includes a grasping member 610 and a driving device 620.

[0075] The grasping member 610 is movably connected to the sliding seat 400, and the grasping member 610 has a fifth position and a sixth position. The bottom of the grasping member 610 has a groove 611 that cooperates with the grasping rod 910 of the stretcher 900. The driving device 620 is disposed on the sliding seat 400, and the driving device 620 is in transmission connection with the grasping member 610.

[0076] In the working state, the driving device 620 drives the grasping member 610 to the fifth position, so that the groove 611 corresponds to the grasping rod 910 of the target stretcher 900, that is, the side walls at the front and rear ends of the groove 611 can abut against the grasping rod 910, thereby limiting the grasping rod 910 (i.e., grasping the grasping rod 910) to achieve the purpose of moving the stretcher 900.

[0077] In the non-working state, the driving device 620 drives the grasping member 610 to the sixth position, so that the side wall at the front end of the groove 611 cannot abut against the grasping rod 910. When it is necessary to release the stretcher 900, the grasping structure moves to the rear side of the AGV main body 100. Since the side wall at the front side of the groove 611 cannot abut against the grasping rod 910, that is, the side wall at the front side of the groove 611 cannot limit the grasping rod 910, the grasping rod 910 can be removed from the front side of the groove 611, thereby achieving the purpose of releasing the stretcher 900. When it is necessary to grasp the stretcher 900, the grasping structure moves to the front side of the AGV main body 100. Since the side wall at the front side of the groove 611 cannot abut against the grasping rod 910, that is, the grasping member 610 does not block the grasping rod 910, the grasping rod 910 can move to the lower side of the groove 611, and then the grasping member 610 is moved to the fifth position, thereby achieving the purpose of grasping the stretcher 900.

[0078] As Figure 3 、 7 shown in FIGS. 、 and 12, the first end of the grasping member 610 (i.e., the end of the grasping member 610 facing the rear side of the AGV main body 100) is hinged to the sliding seat 400, and the second end (i.e., the end of the grasping member 610 facing the front side of the AGV main body 100) can swing back and forth between the fifth position and the sixth position around its hinge center line.

[0079] In the working state, the grasping member 610 is placed at the fifth position, and the second end of the grasping member 610 moves downward, so that the groove 611 is buckled above the grasping rod 910 to limit the grasping rod 910, and thus the purpose of being able to move the stretcher 900 is achieved.

[0080] In the non - working state, the grasping member 610 is placed at the sixth position, and the second end of the grasping member 610 moves upward, so that the side wall on the front side of the groove 611 cannot limit the grasping rod 910, and thus the purpose of enabling the grasping rod 910 to move out of the groove 611 or move below the groove 611 is achieved.

[0081] In other embodiments, the grasping member 610 is slidably connected to the sliding seat 400, and the grasping member 610 can make a reciprocating linear motion between the fifth position and the sixth position along the longitudinal direction.

[0082] In the working state, the grasping member 610 is placed at the fifth position, and the grasping member 610 moves downward, so that the groove 611 is buckled above the grasping rod 910 to limit the grasping rod 910, and thus the purpose of being able to move the stretcher 900 is achieved.

[0083] In the non - working state, the grasping member 610 is placed at the sixth position, so that the grasping member 610 moves upward, so that the side wall on the front side of the groove 611 cannot limit the grasping rod 910, and thus the purpose of enabling the grasping rod 910 to move out of the groove 611 or move below the groove 611 is achieved.

[0084] As Figure 3 、 7 As shown in FIGS. 11 and 12, the grasping structure further includes a grasping arm 630. The first end of the grasping arm 630 is connected to the sliding seat 400, and the second end extends forward of the AGV main body 100. The grasping member 610 is arranged at the second end of the grasping arm and is hinged to the grasping arm 630.

[0085] In this embodiment, the grasping arm 630 is provided to increase the grasping range of the grasping assembly.

[0086] As Figure 3 、 7 As shown in FIGS. 11 and 12, a plurality of grasping arms 630 are provided, and the plurality of grasping arms 630 are sequentially arranged at intervals along the width direction of the AGV main body 100 to achieve the purpose of improving the grasping stability and reliability.

[0087] As Figure 3 、 7 As shown in FIGS. 11 and 12, a plurality of grasping members 610 are provided, and the plurality of grasping members 610 are sequentially arranged at intervals along the width direction of the AGV main body 100 to achieve the purpose of improving the grasping stability and reliability.

[0088] AsFigure 3 , 7 As shown in FIG. 12, the driving device 620 is an electric push rod.

[0089] As Figure 8 shown, the grasping assembly further includes a detection assembly for detecting the position of the grasping member 610. In the working state, when the detection assembly detects that the grasping member 610 moves to the fifth position and / or the sixth position, the driving device 620 stops.

[0090] As Figure 8 shown, the detection assembly includes an induction sheet 810 and an induction element 820.

[0091] The induction sheet 810 is arranged on the grasping member 610 and can move together with the grasping member 610. The induction element 820 is arranged on the sliding seat 400. In the working state, when the induction element 820 senses the induction sheet 810, the driving device 620 stops.

[0092] As Figure 8 shown, there is one induction sheet 810 and one induction element 820. When the grasping member 610 moves to the sixth position, the induction sheet 810 and the induction element 820 correspond to each other, and the driving device 620 stops running.

[0093] In other embodiments, there are two induction sheets 810 and one induction element 820. When one of the induction sheets 810 corresponds to the induction element 820, it means that the grasping member 610 moves to the fifth position, and the driving device 620 stops running. When the other induction sheet 810 corresponds to the induction element 820, it means that the grasping member 610 moves to the sixth position, and the driving device 620 stops running.

[0094] In other embodiments, there is one induction sheet 810 and two induction elements 820. When the induction sheet 810 corresponds to one of the induction elements 820, it means that the grasping member 610 moves to the fifth position, and the driving device 620 stops running. When the induction sheet 810 corresponds to the other induction element 820, it means that the grasping member 610 moves to the sixth position, and the driving device 620 stops running.

[0095] As Figure 4 - 12 shown, the driving structure includes a transmission wheel 710, a driving element 720 and a driving motor 730.

[0096] There are two transmission wheels 710, which are arranged at intervals in sequence along the length direction of the fixed guide rail 200 and are rotatably connected to the fixed guide rail 200. In this embodiment, the two transmission wheels 710 are respectively arranged at both ends of the fixed guide rail 200.

[0097] The driving element 720 is sleeved on two transmission wheels 710 and can rotate along with the rotation of the transmission wheels 710. The driving element 720 is in transmission connection with the sliding guide rail 300. In this embodiment, a horizontal section of the driving element 720 is fixedly connected to the sliding guide rail 300 through a connecting element. The driving motor 730 is arranged on the AGV main body 100, and the driving motor 730 is in transmission connection with one of the two transmission wheels 710.

[0098] In the working state, the driving motor 730 drives the transmission wheel 710 to rotate forward, so as to apply a force to the sliding guide rail 300 through the driving element 720, so as to drive the sliding guide rail 300 to move from the fifth position to the sixth position. The driving motor 730 drives the transmission wheel 710 to rotate reversely, so as to apply a force to the sliding guide rail 300 through the driving element 720, so as to drive the sliding guide rail 300 to move from the sixth position to the fifth position.

[0099] Specifically, the transmission wheel 710 can be a belt pulley, a sprocket, etc., and the driving element 720 can be a transmission belt corresponding to the belt pulley, a transmission chain corresponding to the sprocket, etc. In this embodiment, the transmission wheel 710 is a belt pulley, and the driving element 720 is a transmission belt.

[0100] In the description of the present invention, a large number of specific details are illustrated. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and technologies are not shown in detail so as not to obscure the understanding of this description.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered by the scope of the claims and the description of the present invention.

Claims

1. A grasping component is provided on an AGV main body (100), which is used to grasp a stretcher (900) and move the stretcher (900) onto the AGV main body (100) or move the stretcher (900) from the AGV main body (100) to a target position, and is characterized in that, Comprising: A fixed guide rail (200), which is arranged on the AGV main body (100), and its length direction is consistent with the length direction of the AGV main body (100); A sliding guide rail (300), which is arranged on the fixed guide rail (200), and it can make a reciprocating linear motion between a first position and a second position along the length direction of the fixed guide rail (200); A sliding seat (400), which is arranged on the sliding guide rail (300), and it can make a reciprocating linear motion between a third position and a fourth position along the length direction of the sliding guide rail (300); A grasping structure, which is arranged on the sliding seat (400), and it can move together with the sliding seat (400), and it is used for grasping or releasing the stretcher (900); A driving structure, which is in transmission connection with the sliding guide rail (300), and it is used for driving the sliding guide rail (300) to make a reciprocating linear motion between the first position and the second position; And A synchronization structure, which is in transmission connection with the sliding seat (400). In the working state, the driving structure applies a force to the sliding seat (400) through the synchronization structure to drive the sliding seat (400) to make a reciprocating linear motion between the third position and the fourth position.

2. The grasping component according to claim 1, wherein The synchronization structure includes: A first guiding element (510), which is arranged at the first end of the sliding guide rail (300); A first synchronization element (520), whose first end is connected to the sliding seat (400), and the second end is connected to the fixed guide rail (200) after bypassing the first guiding element (510); A second guiding element (530), which is arranged at the second end of the sliding guide rail (300); and A second synchronization element (540), whose first end is connected to the sliding seat (400), and the second end is connected to the fixed guide rail (200) after bypassing the first guiding element (510).

3. The gripping component according to claim 1 or 2, characterized in that, The grasping structure includes: A grasping member (610), whose first end is hinged to the sliding seat (400), and the second end can swing reciprocally between a fifth position and a sixth position around its hinge center line, and its bottom has a groove (611) that cooperates with the grasping rod (910) of the stretcher (900); and A driving device (620), which is arranged on the sliding seat (400), and it is in transmission connection with the grasping member (610). In the working state, it drives the grasping member (610) to the fifth position so that the side walls at the front and rear ends of the groove (611) can contact the grasping rod (910) of the target stretcher (900), and it drives the grasping member (610) to the sixth position so that the side wall at the front end of the groove (611) cannot contact the grasping rod (910) of the target stretcher (900).

4. The grasping assembly according to claim 3, wherein The grasping structure further includes a grasping arm (630). The first end of the grasping arm (630) is connected to the sliding seat (400), and the second end extends towards the front side of the AGV main body (100). The grasping member (610) is arranged at the second end of the grasping arm (630) and is hinged to the grasping arm (630).

5. The grasping component according to claim 4, characterized in that, A plurality of the grasping arms (630) are provided, and the plurality of the grasping arms (630) are sequentially arranged at intervals along the width direction of the AGV main body (100).

6. The grasping component according to claim 3, wherein, A plurality of the grasping members (610) are provided, and the plurality of the grasping members (610) are sequentially arranged at intervals along the width direction of the AGV main body (100).

7. The grasping component according to claim 3, characterized in that, The grasping assembly further includes a detection assembly, the detection assembly is arranged on the grasping member (610) and the sliding seat (400), and the detection assembly is used for detecting the position of the grasping member (610). In the working state, when the detection assembly detects that the grasping member (610) moves to the fifth position and / or the sixth position, the controller controls the driving device (620) to be turned off.

8. The grasping assembly according to claim 7, wherein The detection assembly includes: An induction sheet (810), which is arranged on the grasping member (610) and can move together with the grasping member (610); and An induction element (820), which is arranged on the sliding seat (400). In the working state, when the induction element (820) corresponds to the induction sheet (810), the controller controls the driving device (620) to be turned off.

9. The grasping component according to claim 1, 2, 4, 5, 6, 7 or 8, characterized in that, The driving structure includes: Two transmission wheels (710) are provided, and the two transmission wheels (710) are sequentially arranged at intervals along the length direction of the fixed guide rail (200) and are rotatably connected to the fixed guide rail (200); A driving element (720), which is sleeved on the two transmission wheels (710) and can rotate with the rotation of the transmission wheels (710), and is in transmission connection with the sliding guide rail (300); and A driving motor (730), which is arranged on the AGV main body (100) and is in transmission connection with one of the two transmission wheels (710).

10. An AGV for carrying a corpse, comprising an AGV main body (100), characterized in that, The grasping assembly according to any one of claims 1-9 is further included, and the grasping assembly is arranged on the AGV main body (100).

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