Positioning and clamping mechanism and AGV trolley

Abstract

The utility model discloses a positioning and clamping mechanism and an AGV trolley, the positioning and clamping mechanism comprises a support, and the support is used for being installed on an AGV body of the AGV trolley; the support is provided with a horizontal cantilever, a clamping assembly is arranged on the horizontal cantilever in a sliding mode, and the clamping assembly is driven by a first driving assembly to reciprocate in the first horizontal direction and is suitable for clamping production materials; a clamping assembly is further arranged on the horizontal cantilever and comprises a first clamping plate and a second clamping plate which are oppositely arranged in the second horizontal direction, and the first horizontal direction is perpendicular to the second horizontal direction. The first clamping plate and the second clamping plate are driven by the second driving assembly to get close to or away from each other. The clamping assembly has a positioning state in which the clamping assembly abuts against and is clamped with the rack of the butt-joint station and an unlocking state in which the clamping assembly is separated from the rack of the butt-joint station. The AGV trolley positioning and clamping mechanism ensures that the AGV trolley provided with the positioning and clamping mechanism meets the working condition that the requirement for the stopping precision of a trolley body is strict.

Description

Technical Field

[0001] The utility model relates to the technical field of automated transportation, in particular to a positioning and clamping mechanism and an AGV trolley. Background Art

[0002] With the rapid development of society, the technology behind automated guided vehicles (AGVs) has matured. Equipped with an automatic navigation system, AGVs can autonomously travel along predetermined routes without the need for human piloting, transporting goods or materials from a starting point to a destination. AGVs' routes can be flexibly adjusted to accommodate changes in storage space requirements, production processes, and other factors. The cost of changing routes is significantly lower than with traditional conveyor belts and rigid conveyor lines, leading to their widespread adoption in industrial automation. Currently, most material handling processes utilize AGVs, which automatically move to a docking station. The AGV's gripping mechanism aligns with the material on the docking station's rack, then moves horizontally to grasp the material. However, existing AGVs experience wobbling when their gripping mechanism moves horizontally, resulting in low positioning accuracy at the docking station and failing to meet stringent stopping requirements. Utility Model Content

[0003] Therefore, the technical problem to be solved by the present invention is to overcome the defect in the prior art that the clamping structure of the AGV trolley is prone to shaking when moving in the horizontal direction, resulting in low positioning accuracy of the AGV trolley body at the docking station and inability to meet the working conditions with stricter requirements on the stopping accuracy of the body, thereby providing a positioning clamping mechanism and an AGV trolley.

[0004] According to the first aspect of the present invention, a positioning and clamping mechanism is provided, which is applied to an AGV vehicle. The positioning and clamping mechanism includes:

[0005] Bracket, used to be installed on the AGV body of the AGV car;

[0006] A horizontal cantilever is provided on the support;

[0007] a gripping assembly, slidably disposed on the horizontal cantilever and driven by the first driving assembly to reciprocate along the first horizontal direction, and adapted to grip production materials;

[0008] The clamping assembly is arranged on the horizontal cantilever. The clamping assembly includes a first clamping plate and a second clamping plate oppositely arranged along the second horizontal direction, and the first horizontal direction and the second horizontal direction are perpendicular to each other. The first clamping plate and the second clamping plate are driven by a second driving assembly to approach or separate from each other. The clamping assembly has a positioning state in which it abuts and clamps against the rack at the docking station, and an unlocking state in which it disengages from the rack at the docking station.

[0009] A positioning and clamping mechanism according to the present invention has at least the following technical effects:

[0010] By arranging a clamping assembly on the horizontal cantilever, and the clamping assembly includes a first clamping plate and a second clamping plate driven by a second driving assembly to approach or separate from each other. After moving the AGV cart equipped with this positioning and clamping mechanism to the docking station, first start the second driving assembly to drive the first clamping plate and the second clamping plate to separate from each other, so that the clamping assembly switches from the unlocking state to the positioning state, thereby enabling the AGV cart equipped with this positioning and clamping mechanism to be clamped and positioned with the rack at the docking station, ensuring that during the process of starting the first driving assembly to drive the clamping component to move along the first horizontal direction to clamp the production material, the AGV cart equipped with this positioning and clamping mechanism will never move relative to the docking station, and further enabling the AGV cart equipped with this positioning and clamping mechanism to meet the working conditions with relatively strict requirements for the body stop accuracy.

[0011] Preferably, the clamping assembly further includes a gear rotatably connected to the horizontal cantilever. The two sides of the gear along the first horizontal direction are respectively engaged with a first rack and a second rack. The first rack and the second rack are both slidably arranged on the horizontal cantilever along the second horizontal direction. The first clamping plate is connected to the first rack, and the second clamping plate is connected to the second rack. The second driving assembly includes a second lead screw arranged on the horizontal cantilever along the second horizontal direction. One end of the second lead screw is connected to a second motor. A second nut seat is arranged on the second lead screw, and the first clamping plate is connected to the second nut seat.

[0012] Preferably, the second motor is arranged along the second horizontal direction, and at least part of the projection of the second lead screw along the first horizontal direction overlaps with the second motor. A main pulley is arranged at the output end of the second motor, a driven pulley is coaxially arranged on the second lead screw, and the driven pulley and the main pulley are connected by a belt.

[0013] Preferably, connecting rods are provided on the sides of the first clamping plate and the second clamping plate facing each other. Pressing blocks are slidably arranged on the sides of the two connecting rods facing each other along the second horizontal direction. Springs are arranged between the pressing blocks and the connecting rods. A channel is formed in the clamping area between the two pressing blocks along the second horizontal direction. The channel is adapted for the production materials to be inserted, and the production materials are abutted and pressed by the two pressing blocks.

[0014] Preferably, the clamping assembly includes two clamping hooks arranged opposite to each other along the second horizontal direction, and the two clamping hooks are driven by a push rod motor to approach or move away from each other.

[0015] Preferably, the first driving assembly includes a first lead screw arranged on the horizontal cantilever along the first horizontal direction. The first lead screw is connected to a first motor. A first nut seat is arranged on the first lead screw, and the clamping assembly is connected to the first nut seat.

[0016] Preferably, two first linear guide rails are arranged on the horizontal cantilever. The two first linear guide rails are both arranged parallel to the first horizontal direction and are arranged opposite to each other along the second horizontal direction on both sides of the first lead screw. The clamping assembly is slidably connected to the two first linear guide rails.

[0017] And / or, a set of guiding assemblies are arranged on both sides of the horizontal cantilever along the second horizontal direction. Each set of guiding assemblies includes a plurality of rollers arranged at intervals along the first horizontal direction.

[0018] And / or, the clamping assembly is arranged at the lower end of the horizontal cantilever along the vertical direction. An installation groove is arranged inside the lower end of the horizontal cantilever, and the first lead screw is arranged in the installation groove. The first horizontal direction, the second horizontal direction, and the vertical direction are perpendicular to each other in pairs.

[0019] And / or, the first motor is arranged along the first horizontal direction. The projection of the first lead screw along the vertical direction at least partially overlaps with the first motor. A first main sprocket is arranged at the output end of the first motor, and a first driven sprocket is coaxially arranged on the first lead screw. The first driven sprocket and the first main sprocket are connected by a first transmission chain.

[0020] Preferably, a lifting assembly is arranged on the bracket. The horizontal cantilever is arranged on the lifting assembly and is driven by the lifting assembly to move along the vertical direction. The first horizontal direction, the second horizontal direction, and the vertical direction are perpendicular to each other in pairs.

[0021] Preferably, the lifting assembly includes a lifting lead screw driven to rotate by a third motor. The lifting lead screw is arranged on the bracket. A third nut seat is arranged on the lifting lead screw, and a mounting plate is arranged on the third nut seat. The mounting plate is slidably connected to the bracket in the vertical direction; the horizontal cantilever is connected to the mounting plate.

[0022] An AGV cart according to the second aspect of the present invention includes an AGV body and a positioning and clamping mechanism. The positioning and clamping mechanism is arranged on the AGV body, and the positioning and clamping mechanism adopts the positioning and clamping mechanism provided in the first aspect above.

[0023] An AGV cart according to the present invention has at least the following technical effects:

[0024] The positioning and clamping mechanism is provided with a clamping assembly on the horizontal cantilever, and the clamping assembly includes a first clamping plate and a second clamping plate driven by a second driving assembly to approach or move away from each other; after moving this AGV cart to the docking station, first start the second driving assembly to drive the first clamping plate and the second clamping plate to move away from each other, so that the clamping assembly switches from the unlocked state to the positioning state, so that this AGV cart is clamped and positioned with the rack of the docking station, ensuring that during the process of starting the first driving assembly to drive the clamping component to move along the first horizontal direction to clamp the production material, this AGV cart will never move relative to the docking station, and further enabling this AGV cart to meet the working conditions with relatively strict requirements for the body stop accuracy.

[0025] The additional aspects and advantages of the present invention will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present invention. Description of the Drawings

[0026] In order 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 to be used in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0027] Figure 1 Structural schematic diagram of an AGV cart equipped with a positioning and clamping mechanism of this embodiment;

[0028] Figure 2 For Figure 1 Structural schematic diagram with the protective cover removed in;

[0029] Figure 3 Structural schematic diagram of a positioning and clamping mechanism of this embodiment with the bracket and the lifting assembly removed;

[0030] Figure 4 Schematic exploded view of the clamping component and the second driving component assembled in a positioning and clamping mechanism of this embodiment;

[0031] Figure 5 is Figure 4 partial structural schematic diagram in;

[0032] Figure 6 Schematic exploded view of the clamping component, the first driving component and the horizontal cantilever assembled in a positioning and clamping mechanism of this embodiment;

[0033] Figure 7 is Figure 6 structural schematic diagram from another perspective;

[0034] Figure 8 Schematic structural diagram of the bracket and the lifting component assembled in a positioning and clamping mechanism of this embodiment.

[0035] Explanation of reference numerals in the drawings:

[0036] 1 - Bracket, 11 - Protective cover;

[0037] 2 - AGV body, 21 - Travel driving component, 22 - Controller, 23 - Obstacle avoidance system, 24 - Anti - collision system, 25 - Battery, 26 - Navigation system;

[0038] 3 - Horizontal cantilever, 31 - Roller, 32 - Installation groove, 33 - Through groove;

[0039] 4 - Clamping component, 41 - Clamping hook, 42 - Push - rod motor;

[0040] 5 - Clamping component, 51 - First clamping plate, 52 - Second clamping plate, 53 - Gear, 54 - First rack, 55 - Second rack, 56 - Connecting rod, 57 - Pressing block, 58 - Spring;

[0041] 61 - Second lead screw, 62 - Second motor, 63 - Second nut seat, 64 - Main pulley, 65 - Driven pulley, 66 - Belt, 67 - Second linear guide, 68 - Guide rod;

[0042] 71 - First lead screw, 72 - First motor, 73 - First nut seat, 74 - First linear guide, 75 - First driven sprocket, 76 - First transmission chain;

[0043] 81 - Third motor, 82 - Lifting lead screw, 83 - Third nut seat, 84 - Mounting plate, 85 - Third linear guide, 86 - Second main sprocket, 87 - Second driven sprocket, 88 - Lifting slider. Detailed implementation manners

[0044] The technical solution of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0045] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is 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 thus should not be construed as a limitation to the present utility model. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0046] In the description of the present utility model, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside 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 circumstances.

[0047] In addition, the technical features involved in different embodiments of the present utility model described below can be combined with each other as long as they do not conflict with each other.

[0048] Embodiment 1

[0049] As Figures 1 to 5 shown, a positioning and clamping mechanism provided in this embodiment is applied to an AGV cart. The positioning and clamping mechanism includes a bracket 1, and the bracket 1 is used to be installed on an AGV body 2 of the AGV cart; the bracket 1 is provided with a horizontal cantilever 3, and a clamping component 4 is slidably arranged on the horizontal cantilever 3. The clamping component 4 is driven by a first driving component to reciprocate along a first horizontal direction and is adapted to clamp production materials; a clamping component 5 is further arranged on the horizontal cantilever 3. The clamping component 5 includes a first clamping plate 51 and a second clamping plate 52 arranged opposite to each other along a second horizontal direction; the first clamping plate 51 and the second clamping plate 52 are driven by a second driving component to approach or move away from each other; the clamping component 5 has a positioning state of abutting and clamping with the rack at the docking station and an unlocking state of disengaging from the rack at the docking station. It can be understood that the first horizontal direction, the second horizontal direction, and the vertical direction described in the text refer to Figure 2 The first horizontal direction, the second horizontal direction, and the vertical direction in Figure 2 are such that the first horizontal direction, the second horizontal direction, and the vertical direction are perpendicular to each other in pairs, and the first horizontal direction and the second horizontal direction are in the same horizontal plane.

[0050] In this embodiment, the positioning and clamping mechanism is configured by arranging a clamping assembly 5 on the horizontal cantilever 3, and the clamping assembly 5 includes a first clamping plate 51 and a second clamping plate 52 that are driven by a second driving assembly to move closer to or away from each other. After moving the AGV cart equipped with the positioning and clamping mechanism of this embodiment to the docking station and before clamping the production material, first start the second driving assembly to drive the first clamping plate 51 and the second clamping plate 52 to move away from each other, so that the clamping assembly 5 switches from the unlocked state to the positioning state, thereby enabling the AGV cart equipped with the positioning and clamping mechanism of this embodiment to be clamped and positioned with the rack of the docking station, ensuring that during the process of starting the first driving assembly to drive the clamping assembly 4 to move along the first horizontal direction to clamp the production material, the AGV cart equipped with the positioning and clamping mechanism of this embodiment will never move relative to the docking station, and further enabling the AGV cart equipped with the positioning and clamping mechanism of this embodiment to meet the working conditions with relatively strict requirements for the body stop accuracy.

[0051] It should be noted that after the clamping assembly 4 clamps the production material located at the docking station and moves back along the first horizontal direction under the drive of the first driving assembly, start the second driving assembly to drive the first clamping plate 51 and the second clamping plate 52 to move closer to each other along the second horizontal direction, so that the clamping assembly 5 switches from the positioning state to the unlocked state, so that the AGV cart equipped with the positioning and clamping mechanism of this embodiment can move out of the docking station after precisely clamping the production material.

[0052] Such as Figures 3 to 5As shown, optionally, the clamping assembly 5 further includes a gear 53 rotatably connected to the horizontal cantilever 3. On both sides of the gear 53 along the first horizontal direction, a first rack 54 and a second rack 55 are respectively engaged. The first rack 54 and the second rack 55 are both slidably arranged on the horizontal cantilever 3 along the second horizontal direction. The first clamping plate 51 is connected to the first rack 54, and the second clamping plate 52 is connected to the second rack 55. The second driving assembly includes a second lead screw 61 arranged on the horizontal cantilever 3 along the second horizontal direction. One end of the second lead screw 61 is connected to a second motor 62. A second nut block 63 is arranged on the second lead screw 61, and the first clamping plate 51 is connected to the second nut block 63. Because the first rack 54 and the second rack 55 are respectively engaged on both sides of the gear 53 along the first horizontal direction, the first clamping plate 51 and the second clamping plate 52 are respectively slidably arranged on the horizontal cantilever 3 through the first rack 54 and the second rack 55, and the first clamping plate 51 is connected to the second nut block 63. So when the second motor 62 drives the second lead screw 61 to rotate forward, it drives the first clamping plate 51 and the first rack 54 to move away from the second clamping plate 52 along the second horizontal direction. At this time, the first rack 54 drives the gear 53 to rotate forward, so that the gear 53 drives the second rack 55 to move away from the first clamping plate 51 along the second horizontal direction at the same moving speed as the first rack 54, realizing driving the first clamping plate 51 and the second clamping plate 52 to move away from each other synchronously at the same moving speed. When the second motor 62 drives the second lead screw 61 to rotate reversely, it drives the first clamping plate 51 and the first rack 54 to move closer to the second clamping plate 52 along the second horizontal direction. At this time, the first rack 54 drives the gear 53 to rotate reversely, so that the gear 53 drives the second rack 55 to move closer to the first clamping plate 51 along the second horizontal direction at the same moving speed as the first rack 54, realizing driving the first clamping plate 51 and the second clamping plate 52 to move closer to each other synchronously at the same moving speed. Furthermore, on the basis of using a unidirectional lead screw, it drives the first clamping plate 51 and the second clamping plate 52 to move closer to or away from each other synchronously, ensuring the abutting and clamping effect between the clamping assembly 5 in the positioning state and the frame of the docking station.

[0053] To further improve the smoothness of the movement of the first rack 54 and the second rack 55 along the second horizontal direction, as Figure 5 shown, specifically, the horizontal cantilever 3 is provided with two second linear guides 67. Both of the two second linear guides 67 are arranged parallel to the second horizontal direction and are relatively arranged on both sides of the gear 53 along the first horizontal direction. The first rack 54 and the second rack 55 are respectively slidably arranged on the corresponding second linear guides 67.

[0054] To further improve the smoothness of the movement of the first clamping plate 51 along the second horizontal direction, as Figure 3 and Figure 4As shown, specifically, the clamping assembly 5 further includes two guide rods 68. Both of the two guide rods 68 are arranged parallel to the second horizontal direction and are oppositely arranged on both sides of the second lead screw 61 along the first horizontal direction. Both sides of the first clamping plate 51 along the first horizontal direction are respectively slidably sleeved on the two guide rods 68. To further improve the smoothness of the movement of the second clamping plate 52 along the second horizontal direction, more specifically, both sides of the second clamping plate 52 along the first horizontal direction are respectively slidably sleeved on the two guide rods 68.

[0055] As Figures 2 to 4 shown, optionally, the second motor 62 is arranged along the second horizontal direction, and at least part of the projection of the second lead screw 61 along the first horizontal direction overlaps with the second motor 62; a main pulley 64 is arranged at the output end of the second motor 62, a driven pulley 65 is coaxially arranged on the second lead screw 61, and the driven pulley 65 and the main pulley 64 are connected by a belt 66. By arranging the second motor 62 on one side of the second lead screw 61 along the first horizontal direction, the size of the second driving assembly along the second horizontal direction is reduced, thereby reducing the occupied space of the second driving assembly along the second horizontal direction, making the structure of the positioning and clamping mechanism of this embodiment more compact.

[0056] As Figure 3 and Figure 4 shown, optionally, connecting rods 56 are arranged on both sides of the first clamping plate 51 and the second clamping plate 52 facing each other. Pressing blocks 57 are slidably arranged along the second horizontal direction on both sides of the two connecting rods 56 facing each other. A spring 58 is arranged between the pressing block 57 and the connecting rod 56; a channel is formed in the clamping area between the two pressing blocks 57 along the second horizontal direction. The channel is adapted to allow the production material to be inserted, and the production material is abutted and pressed by the two pressing blocks 57. After the clamping component 4 clamps the production material at the docking station and moves and resets along the first horizontal direction under the drive of the first driving component, at this time the production material is located in the channel. Subsequently, the second driving component is started to drive the first clamping plate 51 and the second clamping plate 52 to approach each other, switching the clamping assembly 5 to the unlocked state, so that the two pressing blocks 57 respectively abut against both sides of the production material along the second horizontal direction and compress the spring 58 to generate a certain deformation. At this time, the two pressing blocks 57 simultaneously apply extrusion forces to both sides of the production material along the second horizontal direction under the elastic force of the compressed spring 58, pre-pressing the production material, more effectively avoiding the production material from shaking or even falling off during the process of transferring the production material by the positioning and clamping mechanism of this embodiment.

[0057] As Figure 2 、 Figure 3 、 Figure 6 and Figure 7As shown, optionally, the clamping assembly 4 includes two clamping hooks 41 oppositely arranged along the second horizontal direction, and the two clamping hooks 41 are driven by a push rod motor 42 to approach or move away from each other. When it is necessary to clamp the production materials, the push rod motor 42 drives the two clamping hooks 41 to approach each other, reducing the clamping area of the two clamping hooks 41 along the second horizontal direction to clamp the production materials; when it is necessary to put down the production materials, the push rod motor 42 drives the two clamping hooks 41 to move away from each other, increasing the clamping area of the two clamping hooks 41 along the second horizontal direction to remove the clamping force applied to the production materials. The entire picking and placing process has simple actions.

[0058] As Figure 3 , Figure 6 and Figure 7 As shown, optionally, a set of guiding components are arranged on both sides of the horizontal cantilever 3 along the second horizontal direction, and each set of guiding components includes a plurality of rollers 31 arranged at intervals along the first horizontal direction. Through the rolling guiding action of the two sets of guiding components, when the AGV cart equipped with the positioning and clamping mechanism of this embodiment enters or exits the docking station, it can move linearly along the first horizontal direction, avoiding collisions and damaging the AGV body 2.

[0059] As Figure 6 and Figure 7 As shown, optionally, the first driving component includes a first lead screw 71 arranged on the horizontal cantilever 3 along the first horizontal direction. The first lead screw 71 is connected to a first motor 72, and a first nut seat 73 is arranged on the first lead screw 71. The clamping assembly 4 is connected to the first nut seat 73. By slidingly connecting the clamping assembly 4 to the horizontal cantilever 3 and connecting it to the first nut seat 73, it can be avoided that the first nut seat 73 rotates together with the first lead screw 71, ensuring that during the rotation of the first lead screw 71 driven by the first motor 72, the first nut seat 73 drives the clamping assembly 4 to move along the first horizontal direction, ensuring accurate reset after clamping the production materials. The embodiment here is only a preference for the structure of the first driving component, and its specific structure is not limited. For example, in other embodiments, the first driving component can also be set as an electric cylinder, a cylinder, or a linear motor, and drive the clamping assembly 4 to reciprocate along the first horizontal direction.

[0060] As Figure 2 , Figure 3 , Figure 6 and Figure 7As shown, optionally, the clamping assembly 4 is arranged at the lower end of the horizontal cantilever 3 in the vertical direction. An installation groove 32 is arranged inside the lower end of the horizontal cantilever 3, and the first lead screw 71 is arranged inside the installation groove 32. By hiding the first lead screw 71 inside the installation groove 32, it can be avoided that the first lead screw 71 is damaged due to being collided during the movement of the AGV cart equipped with the positioning and clamping mechanism of this embodiment; and the structure of the positioning and clamping mechanism of this embodiment is made more compact. Specifically, the horizontal cantilever 3 is penetrated with a through groove 33 in the second horizontal direction. The through groove 33 communicates with the installation groove 32 and is adapted to allow the pressing block 57 to pass through.

[0061] To further improve the smoothness of the movement of the clamping assembly 4 in the first horizontal direction, as Figure 6 and Figure 7 shown, optionally, the horizontal cantilever 3 is provided with two first linear guide rails 74. Both of the two first linear guide rails 74 are arranged parallel to the first horizontal direction and are arranged oppositely on both sides of the first lead screw 71 in the second horizontal direction; the clamping assembly 4 is slidably connected to the two first linear guide rails 74.

[0062] As Figure 3 , Figure 6 and Figure 7 shown, optionally, the first motor 72 is arranged in the first horizontal direction, and at least part of the projection of the first lead screw 71 in the vertical direction overlaps with the first motor 72; a first main sprocket is arranged at the output end of the first motor 72, a first driven sprocket 75 is coaxially arranged on the first lead screw 71, and the first driven sprocket 75 and the first main sprocket are connected by a first transmission chain 76. By arranging the first motor 72 on one side of the first lead screw 71 in the vertical direction, the size of the first driving assembly in the first horizontal direction is reduced, thereby reducing the occupied space of the first driving assembly in the first horizontal direction and making the structure of the positioning and clamping mechanism of this embodiment more compact.

[0063] As Figure 1 , Figure 2 and Figure 8 shown, optionally, a lifting assembly is arranged on the bracket 1, the horizontal cantilever 3 is arranged on the lifting assembly and is driven by the lifting assembly to move in the vertical direction. The lifting assembly can drive the clamping assembly 4 to lift and adjust the height position along the vertical direction together with the horizontal cantilever 3, so as to facilitate clamping the production materials at different heights at the docking station, making the use more flexible and enhancing the practicability of the AGV cart equipped with the positioning and clamping mechanism of this embodiment.

[0064] As Figure 1 , Figure 2 and Figure 8As shown, optionally, the lifting assembly includes a lifting lead screw 82 driven by a third motor 81. The lifting lead screw 82 is arranged on the bracket 1 in the height direction. A third nut seat 83 is arranged on the lifting lead screw 82, and a mounting plate 84 is arranged on the third nut seat 83. The mounting plate 84 is slidably connected to the bracket 1 in the vertical direction; the horizontal cantilever 3 is connected to the mounting plate 84. By slidably connecting the mounting plate 84 to the bracket 1, it can be avoided that the third nut seat 83 rotates together with the lifting lead screw 82. Ensure that during the process of the third motor 81 driving the lifting lead screw 82 to rotate, the third nut seat 83 drives the mounting plate 84 to move in the vertical direction, thereby driving the horizontal cantilever 3 to move smoothly in the vertical direction, and further ensuring the accuracy of adjusting the height position of the clamping assembly 4 to be flush with the production materials at different height positions, so as to ensure accurately clamping the production materials at different heights at the docking station. The embodiments here are only to optimize the structure of the lifting assembly, and do not limit its specific structure. For example, in other embodiments, the lifting assembly is set as an electric cylinder or a cylinder or a linear motor, and drives the horizontal cantilever 3 to reciprocate in the vertical direction.

[0065] As Figure 2 and Figure 8 As shown, optionally, the bracket 1 is provided with two third linear guide rails 85. Both of the two third linear guide rails 85 are arranged parallel to the vertical direction and are relatively arranged on both sides of the lifting lead screw 82 along the second horizontal direction. The mounting plate 84 is slidably connected to the two third linear guide rails 85 through lifting sliders 88. Through the sliding cooperation of the two third linear guide rails 85 and the two lifting sliders 88, the sliding connection area between the mounting plate 84 and the bracket 1 in the vertical direction is increased, and the bearing capacity of the mounting plate 84 is further increased, ensuring that the horizontal cantilever 3 carrying the clamping assembly 4 and the clamping component 5 moves smoothly in the vertical direction under the drive of the lifting assembly.

[0066] As Figure 8 As shown, optionally, the third motor 81 is arranged on the bracket 1 in the vertical direction. The projection of the lifting lead screw 82 in the first horizontal direction at least partially overlaps with the third motor 81; a second main sprocket 86 is arranged at the output end of the third motor 81, and a second driven sprocket 87 is coaxially arranged on the lifting lead screw 82. The second driven sprocket 87 and the second main sprocket 86 are connected by a second transmission chain. By arranging the third motor 81 on one side of the lifting lead screw 82 in the first horizontal direction, the size of the lifting assembly in the vertical direction is reduced, thereby reducing the occupied space of the lifting assembly in the vertical direction, making the structure of the positioning and clamping mechanism in this embodiment more compact.

[0067] As Figure 1As shown in the figure, specifically, a protective cover 11 is provided outside the bracket 1, and an avoidance groove is provided in the vertical direction at a position corresponding to the horizontal cantilever 3 on the protective cover 11.

[0068] Embodiment 2

[0069] As Figures 1 to 8 Shown is an AGV cart provided in this embodiment, including an AGV body 2 and a positioning and clamping mechanism. The positioning and clamping mechanism is provided on the AGV body 2, and the positioning and clamping mechanism adopts the positioning and clamping mechanism described in Embodiment 1. The positioning and clamping mechanism of the AGV cart in this embodiment is provided with a clamping assembly 5 on the horizontal cantilever 3, and the clamping assembly 5 includes a first clamping plate 51 and a second clamping plate 52 that are driven by a second driving assembly to approach or move away from each other. After moving the AGV cart in this embodiment to the docking station, first start the second driving assembly to drive the first clamping plate 51 and the second clamping plate 52 to move away from each other, so that the clamping assembly 5 switches from the unlocked state to the positioning state, thereby enabling the AGV cart in this embodiment to be clamped and positioned with the frame of the docking station, ensuring that during the process of starting the first driving assembly to drive the clamping assembly 4 to move in the first horizontal direction to clamp the production materials, the AGV cart in this embodiment will never move relative to the docking station, and further enabling the AGV cart in this embodiment to meet the working conditions with relatively strict requirements for the body stop accuracy.

[0070] As Figure 1 As shown in the figure, optionally, two sets of traveling driving assemblies 21 are provided on the lower end surface of the AGV body 2 in the vertical direction, and the two sets of traveling driving assemblies 21 are arranged oppositely in the first horizontal direction. A navigation system 26 is provided on the AGV body 2. The navigation system 26 is used to obtain the real-time position information of the AGV body 2, transmit the real-time position information to the controller 22, and the controller 22 compares the real-time position information with the standard position information to obtain a traveling trajectory, and controls the traveling driving assembly 21 to move according to the traveling trajectory, so as to achieve omnidirectional traveling, thereby ensuring that the AGV cart in this embodiment is accurately moved to the docking station or the parking station.

[0071] It should be noted that the standard position information refers to the position information after the AGV body 2 is accurately moved to the docking station or the parking station.

[0072] Specifically, the traveling driving assembly 21 adopts a traveling driving mechanism in the prior art to achieve the function of driving the AGV body 2 to move.

[0073] As Figure 1As shown, optionally, an obstacle avoidance system 23 is respectively arranged on both sides of the AGV body 2 along the first horizontal direction. The obstacle avoidance system 23 is used for non-contact detection of obstacles within a range of 3 meters. The obstacle avoidance system 23 is electrically connected to the controller 22.

[0074] Specifically, the obstacle avoidance system 23 adopts the obstacle avoidance system 23 in the prior art and will not be described in detail here.

[0075] As Figure 1 and Figure 2 As shown, optionally, a collision avoidance system 24 is respectively convexly arranged on both sides of the AGV body 2 along the first horizontal direction. The collision avoidance system 24 is electrically connected to the controller 22. When the obstacle avoidance system 23 is damaged and cannot be used normally, and when the AGV cart in this embodiment hits an obstacle, the collision avoidance system 24 preferentially contacts the obstacle for buffering to reduce the damage to the AGV body 2. At the same time, the collision avoidance system 24 transmits a signal to the controller 22 to control the walking drive assembly 21 to stop.

[0076] Specifically, the collision avoidance system 24 adopts the collision avoidance system 24 in the prior art and will not be described in detail here.

[0077] As Figure 1 As shown, optionally, a storage battery 25 is arranged inside the AGV body 2. The storage battery 25 is suitable for supplying power to the AGC cart to ensure normal use without connecting to the household circuit.

[0078] Obviously, the above embodiments are only examples for clear illustration and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present invention.

Claims

1. A positioning and clamping mechanism is applied to an AGV vehicle, characterized in that, The positioning and clamping mechanism includes: A bracket (1) for mounting on the AGV body (2) of an AGV trolley; A horizontal cantilever (3) provided on the bracket (1); A clamping component (4) slidably arranged on the horizontal cantilever (3) and driven by a first driving component to reciprocate in a first horizontal direction, and adapted to clamp production materials; A clamping component (5) provided on the horizontal cantilever (3). The clamping component (5) includes a first clamping plate (51) and a second clamping plate (52) oppositely arranged in a second horizontal direction. The first horizontal direction and the second horizontal direction are perpendicular to each other. The first clamping plate (51) and the second clamping plate (52) are driven by a second driving component to approach or separate from each other. The clamping component (5) has a positioning state of abutting and clamping against the frame of the docking station, and an unlocking state of disengaging from the frame of the docking station.

2. The positioning and clamping mechanism according to claim 1, characterized in that, The clamping component (5) further includes a gear (53) rotatably connected to the horizontal cantilever (3). The two sides of the gear (53) along the first horizontal direction are respectively engaged with a first rack (54) and a second rack (55). The first rack (54) and the second rack (55) are both slidably arranged on the horizontal cantilever (3) in the second horizontal direction. The first clamping plate (51) is connected to the first rack (54), and the second clamping plate (52) is connected to the second rack (55). The second driving component includes a second lead screw (61) arranged on the horizontal cantilever (3) in the second horizontal direction. One end of the second lead screw (61) is connected to a second motor (62). A second nut seat (63) is arranged on the second lead screw (61). The first clamping plate (51) is connected to the second nut seat (63).

3. A positioning and clamping mechanism according to claim 2, characterized in that, The second motor (62) is arranged in the second horizontal direction. The projection of the second lead screw (61) along the first horizontal direction at least partially overlaps with the second motor (62). A main pulley (64) is arranged at the output end of the second motor (62). A driven pulley (65) is coaxially arranged on the second lead screw (61). The driven pulley (65) and the main pulley (64) are connected by a belt (66).

4. A positioning and clamping mechanism according to claim 1, characterized in that On the sides of the first clamping plate (51) and the second clamping plate (52) facing each other, connecting rods (56) are arranged. On the sides of the two connecting rods (56) facing each other, pressing blocks (57) are slidably arranged in the second horizontal direction. Springs (58) are arranged between the pressing blocks (57) and the connecting rods (56). A channel is formed in the clamping area between the two pressing blocks (57) in the second horizontal direction. The channel is adapted for the production materials to be inserted, and the production materials are abutted and pressed by the two pressing blocks (57).

5. A positioning and clamping mechanism according to any one of claims 1 to 4, characterized in that, The clamping component (4) includes two hooks (41) oppositely arranged in the second horizontal direction. The two hooks (41) are driven by a push rod motor (42) to approach or separate from each other.

6. A positioning and clamping mechanism according to claim 5, characterized in that, The first driving component includes a first lead screw (71) arranged along a first horizontal direction on the horizontal cantilever (3). The first lead screw (71) is connected to a first motor (72). A first nut block (73) is arranged on the first lead screw (71). The clamping component (4) is connected to the first nut block (73).

7. A positioning and clamping mechanism according to claim 6, characterized in that, Two first linear guides (74) are arranged on the horizontal cantilever (3). Both of the two first linear guides (74) are arranged parallel to the first horizontal direction and are relatively arranged on both sides of the first lead screw (71) along a second horizontal direction. The clamping component (4) is slidably connected to the two first linear guides (74). And / or, a set of guiding components are arranged on both sides of the horizontal cantilever (3) along the second horizontal direction. Each set of guiding components includes a plurality of rollers (31) arranged at intervals along the first horizontal direction. And / or, the clamping component (4) is arranged at the lower end of the horizontal cantilever (3) along the vertical direction. An installation groove (32) is arranged inside the lower end of the horizontal cantilever (3). The first lead screw (71) is arranged inside the installation groove (32). The first horizontal direction, the second horizontal direction and the vertical direction are perpendicular to each other in pairs. And / or, the first motor (72) is arranged along the first horizontal direction. The projection of the first lead screw (71) along the vertical direction at least partially overlaps with the first motor (72). A first main sprocket is arranged at the output end of the first motor (72). A first driven sprocket (75) is coaxially arranged on the first lead screw (71). The first driven sprocket (75) and the first main sprocket are connected by a first transmission chain (76).

8. A positioning and clamping mechanism according to any one of claims 1 to 4, characterized in that A lifting component is arranged on the bracket (1). The horizontal cantilever (3) is arranged on the lifting component and is driven by the lifting component to move along the vertical direction. The first horizontal direction, the second horizontal direction and the vertical direction are perpendicular to each other in pairs.

9. The positioning and clamping mechanism according to claim 8, characterized in that, The lifting component includes a lifting lead screw (82) driven to rotate by a third motor (81). The lifting lead screw (82) is arranged on the bracket (1). A third nut block (83) is arranged on the lifting lead screw (82). An installation plate (84) is arranged on the third nut block (83). The installation plate (84) is slidably connected to the bracket (1) along the vertical direction. The horizontal cantilever (3) is connected to the installation plate (84).

10. An AGV cart, characterized in that, It includes an AGV body (2) and a positioning and clamping mechanism. The positioning and clamping mechanism is arranged on the AGV body (2). The positioning and clamping mechanism adopts the positioning and clamping mechanism described in any one of claims 1 to 9 above.

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