AGV (Automatic Guided Vehicle) gripper switching trolley

Abstract

The utility model relates to the technical field of workshop production, in particular to an AGV gripper switching trolley. The AGV gripper switching trolley comprises a frame, a first guide part and a second guide part, the frame is provided with a first beam, a second beam, a third beam and a fourth beam, the first beam and the second beam are oppositely arranged in the first direction, and the third beam and the fourth beam are oppositely arranged in the second direction; in the first direction, the first guide part is arranged on the side face, away from the second beam, of the first beam in a protruding mode so as to guide the AGV gripper switching trolley in the first direction. The second guide part comprises a first guide wheel and a second guide wheel, the first guide wheel is arranged on the third beam, the second guide wheel is arranged on the fourth beam, the axis of the first guide wheel and the axis of the second guide wheel are parallel to the third direction so that the AGV gripper switching trolley can be guided in the first direction, and the first direction, the second direction and the third direction are perpendicular in pairs. The purpose of automatic positioning of the unmanned trolley is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of workshop production, and particularly relates to an AGV gripper switching trolley. BACKGROUND

[0002] The gripper switching trolley needs to be pushed to the ground positioning structure for accurate positioning on the vehicle body welding production line. The current gripper switching trolley is positioned by manual pushing to the ground positioning structure. The use of a traction type AGV trolley will interfere with the ground positioning structure, so that the traction type AGV trolley cannot enter the ground positioning structure, and the automatic switching of the traction type AGV gripper cannot be realized. CONTENT OF THE UTILITY MODEL

[0003] The present application provides an AGV gripper switching trolley, which solves the technical problem of automatic positioning of unmanned trolleys and achieves the purpose of automatic positioning of unmanned trolleys.

[0004] In order to achieve the above purpose, the main technical scheme adopted by the present application includes:

[0005] The AGV gripper switching trolley provided by the present application comprises a frame, a first guide part and a second guide part. The frame has a first beam, a second beam, a third beam and a fourth beam. In the first direction, the first beam and the second beam are oppositely arranged. In the second direction, the third beam and the fourth beam are oppositely arranged. In the first direction, the first guide part is protruded on the side of the first beam away from the second beam to guide the AGV gripper switching trolley in the first direction. The second guide part comprises a first guide wheel and a second guide wheel. The first guide wheel is arranged on the third beam, and the second guide wheel is arranged on the fourth beam. The axis of the first guide wheel and the axis of the second guide wheel are parallel to the third direction to guide the AGV gripper switching trolley in the first direction. The first direction, the second direction and the third direction are perpendicular to each other.

[0006] The AGV gripper switching trolley provided by the embodiments of the present application can be guided in the first direction by the first guide wheel and the second guide wheel of the second guide part when the AGV gripper switching trolley enters the guide channel of the ground guide positioning tool. With the continuous advancement of the AGV gripper switching trolley, the first guide part of the AGV gripper switching trolley enters the engagement space defined by the first guide assembly of the ground guide positioning tool. The first guide assembly of the ground guide positioning tool guides the first guide part, thereby guiding the AGV gripper switching trolley in the first direction and adjusting the position of the AGV gripper switching trolley in the second direction. Through multi-stage guide positioning, the guide positioning accuracy and stability of the AGV gripper switching trolley are improved, and automatic docking of the AGV trolley and the guide positioning tool is realized.

[0007] Optionally, each first guide part comprises a first part and a second part. The first part comprises a first body part and a first bent part connected in sequence, and the second part comprises a second body part and a second bent part connected in sequence. In the second direction, the first body part and the second body part are arranged at intervals on the first beam. In the first direction, the first bent part and the second bent part gradually approach each other in the direction away from the first beam.

[0008] When the first guide part enters the ground guide positioning tool, the first bent part and the second bent part can play a guiding role, so that the first guide part can more easily enter the engagement space of the ground guide positioning tool, thereby improving the positioning stability and accuracy between the AGV gripper switching trolley and the ground guide positioning tool.

[0009] Optionally, there are a plurality of first guide parts, and the plurality of first guide parts are arranged at intervals in the second direction. In the second direction, the plurality of first guide parts are arranged at intervals on the first beam, and the plurality of first guide parts simultaneously guide the AGV gripper switching trolley in the first direction, thereby improving the guide positioning accuracy of the AGV gripper switching trolley.

[0010] Optionally, there are a plurality of second guide parts, and the plurality of second guide parts are arranged at intervals in the first direction. When the AGV gripper switching trolley enters the ground guide positioning tool, the plurality of second guide parts act on the guide plates of the ground guide positioning tool in sequence, gradually correcting the position of the AGV gripper switching trolley in the first direction, thereby improving the guide positioning accuracy of the AGV gripper switching trolley and the docking accuracy of the AGV gripper switching trolley and the ground guide positioning tool.

[0011] Optionally, the AGV gripper switching trolley further comprises a first positioning plate and a second positioning plate, the first positioning plate extends along the first direction and is fixed to the third beam, and the second positioning plate extends along the first direction and is fixed to the fourth beam, so as to limit the position of the AGV gripper switching trolley in the second direction. The first positioning plate and the second positioning plate are used to abut against the limiting rollers of the ground guiding positioning tool, and limit the AGV gripper switching trolley in the second direction.

[0012] Optionally, the AGV gripper switching trolley further comprises a first positioning part, which is protruded from the side of the first beam away from the second beam along the first direction, so as to limit the position of the AGV gripper switching trolley in the first direction.

[0013] The first positioning part is arranged on the side of the first beam away from the second beam, and when the AGV gripper switching trolley enters the engagement space of the ground guiding positioning tool, the first positioning part abuts against the positioning end of the ground guiding positioning tool, thereby limiting the further movement of the AGV gripper switching trolley in the first direction, and improving the positioning accuracy of the AGV gripper switching trolley.

[0014] Optionally, the AGV gripper switching trolley further comprises a connecting assembly, the connecting assembly comprises a clamping plate fixed to the frame, the clamping plate has a first end and a second end along the first direction, the second end is closer to the first beam than the first end, and the clamping plate has a guide groove extending from the first end to the second end, and the opening of the guide groove faces the second beam. The guide groove is used to accommodate the telescopic pin of the towing AGV trolley, and the telescopic pin of the towing AGV trolley enters the opening of the guide groove and moves towards the first beam, so as to drive the AGV gripper switching trolley to move.

[0015] Optionally, from the second beam to the first beam, the guide groove comprises a first segment and a second segment connected in sequence, and the size of the first segment in the second direction gradually decreases. From the second beam to the first beam, the first segment of the guide groove gradually narrows, which plays a guiding role for the telescopic pin of the towing AGV trolley, improves the docking accuracy of the telescopic pin of the towing AGV trolley and the AGV gripper switching trolley, drives the AGV gripper switching trolley to move, and realizes the quick and automatic hitching of the towing AGV trolley and the AGV gripper switching trolley.

[0016] Optionally, the connecting assembly further comprises a stop plate, the stop plate has a third end and a fourth end along the first direction, the third end is closer to the second beam than the fourth end, the third end is rotatably arranged on the clamping plate through a first shaft, and the fourth end is provided with a second shaft, and the size of the second shaft in the second direction is greater than the size of the second segment.

[0017] In the first direction, the third end of the stop plate is arranged to rotate on the side of the clamping plate close to the second beam, and when the telescopic pin of the towing AGV is located in the second section of the guide groove, the fourth end of the stop plate abuts against the telescopic pin to limit the position of the telescopic pin in the guide groove, thereby improving the connection stability between the towing AGV and the AGV gripper switching trolley. The fourth end of the stop plate is provided with a second shaft, and in the second direction, the size of the second shaft is greater than the size of the second section, thereby limiting the rotation angle of the stop plate and reducing the probability that the stop plate passes through the second section and causes the stop plate to fail to limit the telescopic pin.

[0018] Optionally, the AGV gripper switching trolley further comprises a plurality of gripper docking assemblies, and the plurality of gripper docking assemblies are arranged at intervals in the first direction. Each of the gripper docking assemblies comprises a plurality of gripper placing blocks arranged at intervals. The gripper docking assembly further comprises a dust cover and a driving member. The driving member is arranged on one of the gripper placing blocks, and the dust cover is connected with the driving member. The driving member is used to overturn the dust cover so that the dust cover can selectively cover the gun changing disc.

[0019] The plurality of gripper docking assemblies are used to place the grippers. The dust cover and the driving member are arranged on one of the gripper placing blocks. When the gripper needs to be placed on the gripper placing block, the driving member drives the dust cover to overturn to avoid the gripper. When the gripper is placed on the gripper placing block, the driving member drives the dust cover to overturn so that the dust cover is located above the gun changing disc of the gripper, thereby protecting the gun changing disc of the gripper and reducing the falling of dust and welding slag in the welding workshop into the gun changing disc. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the specific embodiments or prior art of the present application, the following will briefly introduce the drawings needed to be used in the description of the specific embodiments or prior art. Obviously, the drawings described below are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0021] Figure 1 FIG. 1 is a structural schematic diagram of the AGV gripper switching trolley of the present application;

[0022] Figure 2 FIG. 2 is a structural schematic diagram of the AGV gripper switching trolley in use of the present application;

[0023] Figure 3 FIG. 3 is a partial structural schematic diagram of the AGV gripper switching trolley in use of the present application;

[0024] Figure 4 FIG. 4 is a structural schematic diagram of the connection assembly of the AGV gripper switching trolley of the present application.

[0025]

Explanation of reference signs

[0026] 1: frame; 11: first beam; 12: second beam; 13: third beam; 14: fourth beam; 15: to position detection block;

[0027] 2: first guide part; 21: first part; 211: first body part; 212: first bending part; 22: second part; 221: second body part; 222: second bending part;

[0028] 3: second guide part; 31: first guide wheel; 32: second guide wheel;

[0029] 41: first positioning plate; 42: second positioning plate;

[0030] 5: first positioning part;

[0031] 6: connecting assembly; 61: clamping plate; 611: first end; 612: second end; 613: guide groove; 6131: first section; 6132: second section; 62: stop plate; 621: third end; 622: fourth end; 63: first shaft; 64: second shaft;

[0032] 7: grab hand docking assembly; 71: grab hand placing block; 72: driving piece; 73: dustproof cover;

[0033] 8: ground guide positioning tool; 81: limiting roller; 82: first guide assembly;

[0034] 9: telescopic pin;

[0035] A: first direction; B: second direction; C: third direction. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0037] Unless otherwise defined, all technical and scientific terms used in the present application have the same meanings as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the specification herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application; the description and claims of the present application as well as the above abstract are not intended to limit the present application to any particular embodiment. The singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise.

[0038] Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of one another. It is expressly understood that that the described embodiments of the application are merely possible examples of implementations, and are not a limitation of the application, as broadly described.

[0039] In the description of the application, it is necessary to explain that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "attachment" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0040] The term "and / or" in the present application is only a description of the association relationship between the associated objects, which means that there can be three kinds of relationships, for example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. In addition, the character " / " in the present application generally represents an "or" relationship between the front and rear associated objects.

[0041] "Multiple" appearing in the present application refers to two or more (including two), and similarly, "multiple groups" refers to two or more groups (including two groups), and "multiple pieces" refers to two or more pieces (including two pieces).

[0042] Because the traction type AGV trolley will interfere with the ground positioning, the traction type AGV trolley cannot enter the inside of the ground positioning, and the traction type AGV gripper switching trolley cannot be switched. The current gripper switching trolley is positioned by manually pushing to the ground positioning structure. Therefore, a ground material frame and gripper switching trolley positioning technology is needed in an unmanned production line, which can accurately position the AGV gripper switching trolley, realize the demand of unmanned automatic feeding, and automatically switch the gripper.

[0043] Reference Figures 1 to 3 The AGV gripper switching trolley provided by the embodiment of the application comprises a frame 1, a first guide part 2 and a second guide part 3. The frame 1 has a first beam 11, a second beam 12, a third beam 13 and a fourth beam 14. The first beam 11 and the second beam 12 are oppositely arranged along a first direction A. The third beam 13 and the fourth beam 14 are oppositely arranged along a second direction B. The first guide part 2 is protruded on the side of the first beam 11 away from the second beam 12 along the first direction A, so as to guide the AGV gripper switching trolley in the first direction A. The second guide part 3 comprises a first guide wheel 31 and a second guide wheel 32. The first guide wheel 31 is arranged on the third beam 13, and the second guide wheel 32 is arranged on the fourth beam 14. The axis of the first guide wheel 31 and the axis of the second guide wheel 32 are parallel to a third direction C, so as to guide the AGV gripper switching trolley in the first direction A. The first direction A, the second direction B and the third direction C are perpendicular to each other.

[0044] When the AGV gripper switching trolley enters the guide channel of the ground guide positioning tool 8, the first guide wheel 31 and the second guide wheel 32 of the second guide part 3 are engaged with the guide plates of the ground guide positioning tool 8, so as to guide the AGV gripper switching trolley in the first direction A. With the continuous advancement of the AGV gripper switching trolley, the first guide part 2 of the AGV gripper switching trolley enters the engagement space defined by the first guide assembly 82 of the ground guide positioning tool 8. The first guide assembly 82 of the ground guide positioning tool 8 guides the first guide part 2, so as to guide the AGV gripper switching trolley in the first direction A, adjust the position of the AGV gripper switching trolley in the second direction B, improve the guide positioning accuracy and stability of the AGV gripper switching trolley through multi-stage guide positioning, and realize the automatic docking of the AGV gripper switching trolley and the guide positioning tool.

[0045] Specifically, the ground guide positioning tool 8 comprises a first base. Two second bases are arranged on the two sides of the first base along the second direction B. The first base is provided with a first guide assembly 82. The first guide assembly 82 defines an engagement space. The engagement space has a first opening arranged along the first direction A. The two second bases are respectively provided with guide plates. The two guide plates are oppositely arranged to define a guide channel. The guide channel has a second opening along the first direction A. The AGV gripper switching trolley enters the guide channel through the second opening. The two guide plates are respectively in abutment with the first guide wheel 31 and the second guide wheel 32 to guide the AGV gripper switching trolley. Then the AGV gripper switching trolley enters the engagement space defined by the first guide assembly 82 through the first opening. The first guide assembly 82 is in abutment with the first guide part 2 to further guide the AGV gripper switching trolley.

[0046] It should be understood that along the third direction C, the first guide wheel 31 can be arranged below the third beam 13 and protrude from the third beam 13 away from the side of the fourth beam 14 along the second direction B, and the second guide wheel 32 can be arranged below the fourth beam 14 and protrude from the fourth beam 14 away from the side of the third beam 13 along the second direction B. Alternatively, along the third direction C, the first guide wheel 31 can be arranged below the third beam 13 and not protrude from the third beam 13 away from the side of the fourth beam 14 along the second direction B, and the second guide wheel 32 can be arranged below the fourth beam 14 and not protrude from the fourth beam 14 away from the side of the third beam 13 along the second direction B. The positions of the first guide wheel 31 relative to the third beam 13 and the positions of the second guide wheel 32 relative to the fourth beam 14 can be determined according to specific use, as long as the first guide wheel 31 and the second guide wheel 32 can abut against the guide plates of the ground guiding and positioning tool 8 to guide the AGV gripper switching trolley.

[0047] In a specific embodiment, the first beam 11 is provided with a first guide portion 2 on the side away from the second beam 12, and the second beam 12 is also provided with a first guide portion 2 on the side away from the first beam 11, so that the AGV gripper switching trolley can be guided and positioned by abutting against the ground guiding and positioning tool 8 on both sides along the first direction A.

[0048] Optionally, referring to Figure 1 Each first guide portion 2 includes a first portion 21 and a second portion 22, the first portion 21 includes a first body portion 211 and a first bent portion 212 connected in sequence, and the second portion 22 includes a second body portion 221 and a second bent portion 222 connected in sequence; along the second direction B, the first body portion 211 and the second body portion 221 are arranged in a spaced manner on the first beam 11, and along the first direction A, the first bent portion 212 and the second bent portion 222 gradually approach each other in a direction away from the first beam 11.

[0049] Specifically, the first body portion 211 and the second body portion 221 are arranged in a spaced manner on the first beam 11, and the extension directions of the first body portion 211 and the second body portion 221 are parallel to the first direction A. Along the first direction A, the first bent portion 212 and the second bent portion 222 gradually approach each other, so that the distance between the first bent portion 212 and the second bent portion 222 gradually decreases. That is, the side of the first guide portion 2 close to the first beam 11 is configured as a straight structure, and the side of the first guide portion 2 away from the first beam 11 is configured as a triangular structure with a sharp end. When the first guide portion 2 enters the ground guiding and positioning tool 8, the first bent portion 212 and the second bent portion 222 can play a guiding role, so that the first guide portion 2 can more easily enter the engagement space of the ground guiding and positioning tool 8, thereby improving the positioning stability and positioning accuracy between the AGV gripper switching trolley and the ground guiding and positioning tool 8.

[0050] It should be understood that the first part 21 and the second part 22 of the first guide part 2 can be an integral structure, and no gap is arranged between the first part 21 and the second part 22. The side of the first guide part 2 away from the first beam 11 is configured as a structure with a sharp end, which can guide the first guide part 2 to enter the ground guiding and positioning tool 8, so that the first guide part 2 is more easily guided to enter the engaging space of the ground guiding and positioning tool 8.

[0051] Optionally, the first guide part 2 is a plurality of first guide parts 2, and the plurality of first guide parts 2 are arranged at intervals along the second direction B. The plurality of first guide parts 2 are arranged at intervals on the first beam 11 along the second direction B, and the plurality of first guide parts 2 collectively guide the AGV gripper switching trolley in the first direction A, thereby improving the guiding and positioning accuracy of the AGV gripper switching trolley.

[0052] Optionally, the second guide part 3 is a plurality of second guide parts 3, and the plurality of second guide parts 3 are arranged at intervals along the first direction A. Specifically, the plurality of second guide parts 3 are arranged at intervals along the first direction A, and each second guide part 3 includes a first guide wheel 31 and a second guide wheel 32.

[0053] That is, the plurality of first guide wheels 31 are arranged at intervals on the third beam 13, and the plurality of second guide wheels 32 are arranged at intervals on the fourth beam 14. Each first guide wheel 31 and a second guide wheel 32 are arranged correspondingly. When the AGV gripper switching trolley enters the ground guiding and positioning tool 8, the plurality of second guide parts 3 act on the guide plates of the ground guiding and positioning tool 8 in turn, gradually correcting the position of the AGV gripper switching trolley along the first direction A, thereby improving the guiding and positioning accuracy of the AGV gripper switching trolley, and further improving the docking accuracy of the AGV gripper switching trolley and the ground guiding and positioning tool 8.

[0054] Optionally, with reference to Figure 1 , the AGV gripper switching trolley further includes a first positioning plate 41 and a second positioning plate 42. The first positioning plate 41 extends along the first direction A and is fixed to the third beam 13. The second positioning plate 42 extends along the first direction A and is fixed to the fourth beam 14, so as to limit the position of the AGV gripper switching trolley in the second direction B.

[0055] The AGV gripper switching trolley has the first positioning plate 41 and the second positioning plate 42 in the second direction B, and the first positioning plate 41 and the second positioning plate 42 are used to abut against the limiting rollers 81 of the ground guiding and positioning tool 8. The limiting rollers 81 on both sides of the ground guiding and positioning tool 8 abut against the first positioning plate 41 and the second positioning plate 42 respectively, and limit the AGV gripper switching trolley in the second direction B.

[0056] Optionally, the AGV gripper switching trolley further comprises a first positioning portion 5, which is protruded from the side of the first beam 11 away from the second beam 12 in the first direction A, so as to limit the position of the AGV gripper switching trolley in the first direction A. The first positioning portion 5 is arranged on the side of the first beam 11 away from the second beam 12, and when the AGV gripper switching trolley enters the engagement space of the ground guiding positioning tool 8, the first positioning portion 5 abuts against the positioning end of the ground guiding positioning tool 8, thereby limiting the further movement of the AGV gripper switching trolley in the first direction A, so as to improve the positioning accuracy of the AGV gripper switching trolley.

[0057] In one specific embodiment, the first positioning portion 5 is a plurality of first positioning portions 5, which are arranged on the first beam 11 in the second direction B, so as to improve the stability and positioning accuracy of the AGV gripper switching trolley.

[0058] Optionally, referring to Figure 1 and Figure 4 , the AGV gripper switching trolley further comprises a connecting assembly 6, which comprises a clamping plate 61 fixed to the frame 1, the clamping plate 61 has a first end 611 and a second end 612 in the first direction A, the second end 612 is closer to the first beam 11 than the first end 611, and the clamping plate 61 has a guide groove 613 extending from the first end 611 to the second end 612, the opening of the guide groove 613 faces the second beam 11. The guide groove 613 is used to accommodate the extension pin 9 of the AGV trolley, and the extension pin 9 of the AGV trolley enters the guide groove 613 from the opening and moves towards the first beam 11, so as to drive the AGV gripper switching trolley to move.

[0059] Optionally, referring to Figure 4 , the guide groove 613 comprises a first section 6131 and a second section 6132 connected in sequence in the direction from the second beam 12 to the first beam 11, and the size of the first section 6131 in the second direction B gradually decreases. The first section 6131 of the guide groove 613 gradually narrows in the direction from the second beam 12 to the first beam 11, which plays a guiding role for the extension pin 9 of the AGV trolley, improves the docking accuracy of the extension pin 9 of the AGV trolley and the AGV gripper switching trolley, drives the AGV gripper switching trolley to move, and realizes the quick and automatic hitching of the AGV trolley and the AGV gripper switching trolley.

[0060] Optionally, referring to Figure 4The connecting assembly 6 further comprises a stop plate 62. In the first direction A, the stop plate 62 has a third end 621 and a fourth end 622. The third end 621 is closer to the second beam 12 than the fourth end 622. The third end 621 is rotatably arranged on the clamping plate 61 by a first shaft 63. The fourth end 622 is provided with a second shaft 64. In the second direction B, the size of the second shaft 64 is greater than the size of the second section 6132. In the first direction A, the third end 621 of the stop plate 62 is rotatably arranged on the side of the clamping plate 61 close to the second beam 12. When the telescopic pin 9 of the towing AGV vehicle is located in the second section 6132 of the guide groove 613, the fourth end 622 of the stop plate 62 abuts against the telescopic pin 9, limiting the position of the telescopic pin 9 in the guide groove 613, and improving the connection stability between the towing AGV vehicle and the AGV gripper switching vehicle. The fourth end 622 of the stop plate 62 is provided with the second shaft 64. In the second direction B, the size of the second shaft 64 is greater than the size of the second section 6132, limiting the rotation angle of the stop plate 62, and reducing the probability that the stop plate 62 passes through the second section 6132 and causes the stop plate 62 to fail to limit the telescopic pin 9.

[0061] When the guide groove 613 is not engaged with the telescopic pin 9, the second shaft 64 of the stop plate 62 abuts against the clamping plate 61. When the telescopic pin 9 enters the second section 6132 from the first section 6131, the telescopic pin 9 lifts the stop plate 62, causing the third end 621 of the stop plate 62 to rotate relative to the clamping plate 61. When the telescopic pin 9 is elongated to a predetermined position, the fourth end 622 of the stop plate 62 abuts against the telescopic pin 9, causing the telescopic pin 9 to be stably maintained in the second section 6132.

[0062] Optionally, referring to Figure 1 The AGV gripper switching vehicle further comprises a plurality of gripper docking assemblies 7. In the first direction A, the plurality of gripper docking assemblies 7 are arranged at intervals. Each gripper docking assembly 7 comprises a plurality of spaced-apart gripper placing blocks 71. The gripper docking assembly 7 further comprises a dust cover 73 and a driving member 72. The driving member 72 is arranged on one of the gripper placing blocks 71. The dust cover 73 is connected to the driving member 72. The driving member 72 is used to flip the dust cover 73, so that the dust cover 73 can selectively cover the welding gun tray.

[0063] The plurality of gripper docking assemblies 7 are used to place the grippers. One of the gripper placing blocks 71 is provided with the dust cover 73 and the driving member 72. When the gripper needs to be placed on the gripper placing block 71, the driving member 72 drives the dust cover 73 to flip, so as to avoid the gripper. When the gripper is placed on the gripper placing block 71, the driving member 72 drives the dust cover 73 to flip, so that the dust cover 73 is located above the welding gun tray of the gripper, thereby protecting the welding gun tray of the gripper and reducing the falling of dust and welding slag in the welding gun tray.

[0064] Specifically, each gripper placement requires four gripper placement blocks 71, one of which is provided with a gripper detection switch to reduce the presence or absence of a gripper on the gripper placement block 71 and whether the gripper is in place; one of which is provided with a gripper limiting sleeve, the limiting sleeve has a limiting hole for cooperation with the placement pin of the gripper; one of which is provided with a gripper placement positioning block, the gripper placement positioning block is used to cooperate with the positioning block of the gripper. Among them, the gripper placement positioning block and the gripper limiting sleeve are not on the same gripper placement block 71.

[0065] In one embodiment, the frame 1 of the AGV gripper switching trolley is further provided with two limiting clamping plates below, which are arranged in the second direction B and extend in the first direction A. The two limiting clamping plates cooperate with the rollers of the traction AGV trolley to guide the traction AGV trolley.

[0066] The frame 1 of the AGV gripper switching trolley is further provided with universal casters below, so that the AGV gripper switching trolley can rotate omnidirectionally and be manually moved when needed.

[0067] In one embodiment, the side of the first beam 11 away from the second beam 12 is provided with a position detection block 15, and the AGV gripper switching trolley is provided with an RFID identification two-dimensional code. When the AGV gripper switching trolley reaches the ground guiding and positioning tool 8 and the first positioning part 5 abuts against the positioning end of the ground guiding and positioning tool 8, the position detection block 15 engages with the position detection switch of the ground guiding and positioning tool 8. The position detection switch detects the position detection block 15 to obtain the position of the gripper and vehicle information, such as the number and installation position of the position detection block 15 detected by the position detection switch, which can also identify the vehicle type. Combined with RFID identification double detection confirmation, it reduces the error caused by single detection function failure in gripper switching.

[0068] When the traction AGV trolley is combined with the AGV gripper switching trolley, the telescopic pin 9 of the traction AGV trolley moves into the guide groove 613 and enters the second section 6132 from the first section 6131, the telescopic pin 9 lifts the stop plate 62, and the third end 621 of the stop plate 62 rotates relative to the clamping plate 61. When the telescopic pin 9 is extended to a predetermined position, the fourth end 622 of the stop plate 62 abuts against the telescopic pin 9, so that the telescopic pin 9 is stably maintained in the second section 6132, thereby enabling the traction AGV trolley to move the AGV gripper switching trolley.

[0069] The AGV gripper switching trolley of the application comprises a first beam 11 and a second beam 12 arranged opposite in a first direction A, a third beam 13 and a fourth beam 14 arranged opposite in a second direction B. The third beam 13 is provided with a plurality of first guide wheels 31, and the fourth beam 14 is provided with a plurality of second guide wheels 32. When the AGV gripper switching trolley enters the guide channel, the plurality of first guide wheels 31 and the plurality of second guide wheels 32 are respectively engaged with the guide plates on both sides of the ground guide positioning tool 8 to guide the AGV gripper trolley in the first direction A.

[0070] The ground guide positioning tool 8 is also provided with a limiting roller 81 on both sides, which cooperates with the first positioning plate 41 and the second positioning plate 42 of the AGV gripper switching trolley to limit the AGV gripper switching trolley in the second direction B. At the same time, the cooperation between the limiting roller 81 and the first positioning plate 41 and the second positioning plate 42 can effectively reduce the friction and impact during the process of the AGV gripper switching trolley entering the ground guide positioning tool 8.

[0071] The side of the first beam 11 away from the second beam 12 is provided with a first guide part 2, and the side of the second beam 12 away from the first beam 11 is provided with a first guide part 2. The first guide part 2 comprises a first part 21 and a second part 22. The first part 21 comprises a first body part 211 and a first bending part 212, and the second part 22 comprises a second body part 221 and a second bending part 222. In the first direction A, the extension directions of the first body part 211 and the second body part 221 are parallel, and the first bending part 212 and the second bending part 222 gradually approach in the direction away from the first beam 11 to form a sharp end, so as to facilitate the first positioning part 5 to enter the engagement space. When the first guide part 2 of the AGV gripper switching trolley enters the engagement space of the ground guide positioning tool 8, the first guide part 2 is engaged with the roller of the first guide assembly 82 to guide the AGV gripper switching trolley in the first direction A.

[0072] When the AGV gripper switching trolley is inserted into the ground guide positioning tool 8, and the first positioning part 5 abuts against the positioning end of the ground guide positioning tool 8, the AGV gripper switching trolley no longer continues to move, the in-place detection switch is engaged with the in-place detection block 15 of the AGV gripper switching trolley, and in-place detection and vehicle type recognition detection are performed to confirm the type of the gripper on the AGV gripper switching trolley. At the same time, the RFID on the ground guide positioning tool 8 recognizes the two-dimensional code on the AGV gripper switching trolley to confirm the vehicle type again, satisfying multi-vehicle type gripper switching.

[0073] The ground guide positioning tool 8 is provided with a pneumatic and electrical quick insertion push cylinder and a pneumatic and electrical quick insertion unit. The pneumatic and electrical quick insertion push cylinder drives the pneumatic and electrical quick insertion unit to be docked with the pneumatic and electrical unit on the AGV gripper switching trolley, so as to realize the connection of gas and electricity on the mobile gripper switching trolley, supply the pneumatic and electrical unit on the gripper switching trolley, realize automatic docking of gas and electricity, and have a wide range of applications.

[0074] The grabber detection switch on the grabber placing block 71 detects whether there is a grabber on the AGV grabber switching trolley and whether the grabber is in place. After the grabber is automatically placed on the grabber placing block 71, the driving member 72 drives the dust cover 73 to flip to protect the gun changing disc, reducing dust and welding spatter from entering the gun changing disc.

[0075] The ground guiding and positioning tool 8 will gradually correct and guide and limit the AGV grabber automatic switching trolley. The AGV grabber automatic switching trolley is pulled by the AGV trolley to the ground guiding and positioning tool 8 for grabber switching. In this process, the AGV grabber switching trolley needs to be guided and positioned by the ground guiding and positioning tool 8, gradually from coarse positioning to accurate positioning, achieving the required positioning accuracy of the grabber switching trolley for automatic switching of the grabber, and achieving the required repeatability accuracy for automatic switching of the grabber. The AGV grabber switching trolley enters the ground guiding and positioning tool 8 and is positioned throughout the process without human intervention, relying only on the AGV to pull the grabber automatic switching trolley to move and load, meeting the process requirements of the unmanned black light production line of the production line; and the grabber switching repeatability is high, meeting the requirements of automatic switching of the grabber; and good compatibility, stable and reliable structure.

[0076] It should also be noted that the terms "comprising", "containing", or any other similar term are intended to encompass non-exclusive inclusions, such that a process, method, article, or apparatus that comprises a list of elements does not necessarily include only those elements, but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, the element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0077] Each of the embodiments in the specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiment.

[0078] The above only describes the embodiments of the present application and is not intended to limit the present application. Those skilled in the art can make various changes and modifications to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the scope of the claims of the present application.

[0079] While embodiments of the application have been described in connection with the preferred embodiments of the various figures, those of ordinary skill in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the application, and that such modifications and changes fall within the scope of the appended claims.

Claims

1. An AGV gripper switching trolley, characterized in that, The application relates to an AGV (Automatic Guided Vehicle) gripper switching trolley, which comprises a frame, a first guide part, a second guide part and a connecting assembly. The frame comprises a first beam, a second beam, a third beam and a fourth beam, wherein the first beam and the second beam are oppositely arranged along a first direction, and the third beam and the fourth beam are oppositely arranged along a second direction. The first guide part is arranged on the side of the first beam away from the second beam along the first direction, and is used for guiding the AGV gripper switching trolley in the first direction. The second guide part comprises a first guide wheel and a second guide wheel, wherein the first guide wheel is arranged on the third beam, the second guide wheel is arranged on the fourth beam, the axis of the first guide wheel is parallel to the axis of the second guide wheel along a third direction, and the first direction, the second direction and the third direction are perpendicular to each other.

2. The AGV gripper switching trolley according to claim 1, characterized in that Each first guide part comprises a first part and a second part, wherein the first part comprises a first body part and a first bending part which are sequentially connected, and the second part comprises a second body part and a second bending part which are sequentially connected. The first body part and the second body part are arranged on the first beam along the second direction, and the first bending part and the second bending part gradually approach each other along the first direction.

3. The AGV gripper switching trolley according to claim 2, characterized in that The first guide part is a plurality of first guide parts, and the plurality of first guide parts are arranged along the second direction.

4. The AGV gripper switching trolley of claim 1, wherein, The second guide part is a plurality of second guide parts, and the plurality of second guide parts are arranged along the first direction.

5. The AGV gripper switching trolley of claim 1, wherein, The AGV gripper switching trolley further comprises a first positioning plate and a second positioning plate, wherein the first positioning plate extends along the first direction and is fixed on the third beam, and the second positioning plate extends along the first direction and is fixed on the fourth beam, so as to limit the position of the AGV gripper switching trolley along the second direction.

6. The AGV tumbler gripper switch cart of claim 1, wherein, The AGV gripper switching trolley further comprises a first positioning part, wherein the first positioning part is arranged on the side of the first beam away from the second beam along the first direction, and is used for limiting the position of the AGV gripper switching trolley along the first direction.

7. The AGV tumbler gripper switch cart of claim 1, wherein, The connecting assembly comprises a clamping plate fixed on the frame, wherein the clamping plate has a first end and a second end along the first direction, the second end is closer to the first beam than the first end, the clamping plate is provided with a guide groove extending from the first end to the second end, and the opening of the guide groove faces the second beam.

8. The AGV tumbler gripper switch according to claim 7, characterized in that, The guide groove comprises a first section and a second section which are sequentially connected from the second beam to the first beam, and the size of the first section along the second direction gradually decreases.

9. The AGV tumbler according to claim 8, characterized in that, The connecting assembly further comprises a stop plate, wherein the stop plate has a third end and a fourth end along the first direction, the third end is closer to the second beam than the fourth end, the third end is rotatably arranged on the clamping plate through a first shaft, and the fourth end is provided with a second shaft, and the size of the second shaft along the second direction is greater than the size of the second section.

10. The AGV tumbler of claim 1, wherein, The AGV gripper switching trolley further comprises a plurality of gripper docking assemblies, which are arranged at intervals along the first direction, and each of the gripper docking assemblies comprises a plurality of gripper placing blocks arranged at intervals. The gripper docking assembly further comprises a dustproof cover and a driving member, the driving member is arranged on one of the gripper placing blocks, the dustproof cover is connected with the driving member, and the driving member is used for overturning the dustproof cover, so that the dustproof cover can be selectively arranged on the gun changing disc.

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