AGV connection machine clamping mechanism with accurate positioning

Abstract

This utility model relates to the field of intelligent warehousing and logistics technology, and discloses a clip opening mechanism for an AGV shuttle with precise positioning. The mechanism includes a frame and a clip mechanism within the frame. The upper end of the frame is equipped with a vertically adjustable frame, and the bottom end of the adjustable frame is equipped with two irregularly shaped supports. Each of the two irregularly shaped supports has a set of opening pins and a set of laser sensors fixedly connected to its bottom end. Each of the two irregularly shaped supports has a clamping switch shaft installed at one end along its length. This AGV shuttle clip opening mechanism with precise positioning, by using laser sensors at the bottom of the irregularly shaped supports, can quickly and accurately sense the position of the clip body after it has been positioned. This effectively avoids the problem of difficulty in inserting the opening pins due to clip position deviation, ensuring that the opening pins can be accurately inserted into the opening holes on the clip body, greatly improving the reliability and success rate of the opening action.

Description

Technical Field

[0001] This utility model relates to the field of intelligent warehousing and logistics technology, specifically to an AGV connecting machine clip opening mechanism with precise positioning. Background Technology

[0002] AGV (Automated Guided Vehicle) transfer machines are typically equipped with conveyor lines that can transfer pallets or boxes from docking conveyor lines to AGVs and then transport them to target conveyor lines or designated locations for relay handling by other automated equipment. These machines can be categorized into box-type AGVs and pallet-type AGVs, suitable for transferring boxed and palletized items respectively. Their internal clip opening and closing mechanisms can work in conjunction with the AGV to transfer pallets, clips, or boxes containing goods.

[0003] Traditional AGV shuttle machines employ internal magazine opening mechanisms that, while using cylinders to initially position the magazines after they are in place, have limited positioning accuracy. During magazine handling, factors such as vibration and collisions can easily cause the clamping beams on the magazines to shift. Furthermore, the initial positions of each clamping beam within the magazine are inherently different. Traditional mechanisms lack effective detection methods to accurately determine the actual positions of the clamping beams, relying solely on fixed mechanical structures and simple cylinder movements for the opening operation. This results in the four opening pins failing to smoothly insert into the magazine's opening holes during opening, compromising the accuracy and stability of the opening action and leading to a low success rate, thus affecting the shuttle connection. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides an AGV shuttle machine clip opening mechanism with precise positioning, which has advantages such as improved opening accuracy and solves the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an AGV shuttle machine clip opening and closing mechanism with precise positioning, including a frame and a clip mechanism inside the frame. The upper end of the frame is provided with an adjustment frame that can be vertically raised and lowered. The bottom end of the adjustment frame is provided with two irregularly shaped brackets. The bottom end of each of the two irregularly shaped brackets is fixedly connected with a set of opening pins and a set of laser sensors. One end of each of the two irregularly shaped brackets along its length direction is equipped with a clamping switch shaft. The upper surface of the adjustment frame is equipped with a drive assembly.

[0006] Each of the irregular brackets is equipped with a clamping block upper and lower cylinder at its upper end, and a clamping block opening and closing cylinder is installed at the output end of each clamping block upper and lower cylinder. A set of slidable clamping block bodies is slidably connected to the output end of each clamping block opening and closing cylinder along its track. The output end of each clamping block opening and closing cylinder is fixedly connected to a set of clamping block bodies that are close to each other.

[0007] Furthermore, a lifting cylinder is installed at the top of the frame, and the output end of the lifting cylinder is fixedly connected to the adjustment frame.

[0008] The above solution uses a lifting cylinder to drive the adjustment frame to move vertically, which can precisely control the movement distance and speed of the adjustment frame. The cylinder has the characteristics of fast response speed and high control precision, and can quickly and accurately adjust the position of the adjustment frame, so that the clamping mechanism can quickly adapt to the magazines of different heights, improving the flexibility and efficiency of the clamping operation.

[0009] Furthermore, the inner bottom wall of the adjustment frame has multiple notches, and the left and right notches are slidably connected with L-shaped threaded sliding blocks along their inner walls. The two irregular brackets are fixedly connected to the bottom ends of the adjacent threaded sliding blocks, and the upper and lower cylinders of the two clamping blocks are located in adjacent notches.

[0010] The above design, with its notch and threaded sliding block, makes the installation of the irregular bracket and the upper and lower cylinders of the clamping block more stable and facilitates position adjustment. The L-shaped threaded sliding block can slide in a specific direction within the notch. When the position of the irregular bracket needs to be adjusted according to different specifications of magazines, simply move the threaded sliding block. The operation is convenient and quick.

[0011] Furthermore, the drive assembly includes two lead screws rotatably connected to the inner bottom wall of the adjustment frame protrusion, and two threaded sliding blocks are threadedly connected to the lead screws adjacent to each other. Two servo motors are fixedly connected to the upper surface of the adjustment frame, and one end of each of the two lead screws is fixedly connected to the output end of the adjacent servo motors.

[0012] The above scheme uses a servo motor to drive a lead screw to move a threaded sliding block, thereby achieving precise control of the position of the irregular bracket. The servo motor has high-precision position control, speed control, and torque control capabilities, and can accurately control the rotation angle and speed of the lead screw according to a preset program. Thus, the moving distance and position of the irregular bracket can be precisely adjusted through the threaded sliding block.

[0013] Furthermore, a U-shaped positioning plate is provided at the upper end of the frame, and a plurality of limiting rods arranged in a matrix and capable of sliding vertically along the frame are fixedly connected to the bottom end of the positioning plate. Each limiting rod is vertically and vertically slidably inserted into the frame through a sliding bearing, and the other end of each limiting rod is fixedly connected to an adjustment frame.

[0014] Through the above scheme, the combination of the U-shaped positioning plate and the limiting rod provides precise guidance and stable support for the vertical lifting and lowering of the adjustment frame. The multiple limiting rods distributed in a matrix can evenly bear the force generated by the adjustment frame during the lifting and lowering process, reduce the shaking and offset of the adjustment frame, and ensure that the adjustment frame always moves along the predetermined vertical direction.

[0015] Furthermore, the magazine mechanism includes a magazine body and two symmetrical positioning rods fixedly connected to the inner wall of the magazine body. The outer surface of the magazine body is provided with two sets of symmetrical sliding grooves. A sliding rod slides between each pair of corresponding sliding grooves. A clamping arm slides between each pair of vertically corresponding sliding rods. Two clamping beams slide between the two positioning rods. A clamping block is fixedly connected to the upper surface of each of the two clamping beams. A piezoelectric core block is fixedly connected to the bottom end of each of the two clamping beams. A clamping control switch for locking the clamping beams is installed on the upper surface of each of the two clamping beams. A set of opening holes adapted to the opening pins are provided on the upper surface of each of the two clamping beams.

[0016] Through the above scheme, the design of the magazine mechanism makes the magazine loading and unloading operations more convenient and faster. The positioning rod provides precise guidance for the sliding of the clamping beam, ensuring the stability of the clamping beam during movement. The combination of the sliding groove and the sliding rod allows the clamping arm to move flexibly, facilitating the fixing and release of items in the magazine. The matching design of the opening hole and the opening pin ensures that the opening pin can be accurately inserted, achieving efficient opening action.

[0017] Furthermore, two positioning cylinders are installed at the middle of the frame, and the output ends of the two positioning cylinders are fixedly connected to positioning clamps for fixing the magazine body.

[0018] The above-mentioned design allows the positioning cylinder and positioning clamp to be quickly fixed after the magazine reaches the designated position, preventing the magazine from moving or shaking during the opening process and ensuring the accuracy and stability of the opening operation.

[0019] Compared with the prior art, the technical solution of this utility model has the following beneficial effects:

[0020] This AGV shuttle's magazine opening mechanism, equipped with precise positioning, utilizes a laser sensor at the bottom of the irregularly shaped bracket. This sensor quickly and accurately detects the magazine's position after it has been positioned, effectively preventing difficulties in inserting the opening pin due to magazine position deviation. It ensures the opening pin is accurately inserted into the opening hole on the magazine body, significantly improving the reliability and success rate of the opening action. This reduces equipment failures and production interruptions caused by opening failures. The servo motor drive provides smoother and more precise motion control, avoiding the impact, vibration, and positional deviation problems that may occur with cylinder drives. When opening the magazine clamping beam, it ensures a smoother and more accurate movement to both sides of the magazine. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of this application;

[0022] Figure 2 This is a schematic diagram of the magazine body structure of this application;

[0023] Figure 3 This is a bottom view of the adjustable frame structure of this application.

[0024] Figure 4 This is a sectional view of the top view of the adjustment frame structure of this application.

[0025] In the picture:

[0026] 1. Frame; 2. Magazine mechanism;

[0027] 201. Magazine body; 202. Positioning rod; 203. Slide groove; 204. Slide rod; 205. Clamping arm; 206. Clamping crossbeam; 207. Clamping block; 208. Piezoelectric core block; 209. Clamping control switch; 210. Clamping hole;

[0028] 3. Adjustment frame; 4. Irregularly shaped bracket; 5. Clamping pin; 6. Laser sensor; 7. Clamping switch shaft;

[0029] 8. Driver components;

[0030] 801. Lead screw; 802. Servo motor;

[0031] 9. Pull-clamp block upper and lower cylinders; 10. Pull-clamp block opening and closing cylinders; 11. Pull-clamp block body; 12. Lifting cylinder; 13. Notch; 14. Threaded sliding block; 15. Positioning plate; 16. Limiting rod; 17. Positioning cylinder; 18. Positioning clamping plate. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0033] Please see Figures 1-4 The AGV shuttle machine clip opening mechanism with precise positioning in this embodiment includes a frame 1 and a clip mechanism 2 inside the frame 1. The upper end of the frame 1 is provided with an adjustment frame 3 that can be vertically raised and lowered. The inner bottom wall of both adjustment frames 3 is convex. The bottom end of the adjustment frame 3 is provided with two irregular brackets 4. The bottom end of each of the two irregular brackets 4 is fixedly connected with a set of opening pins 5 and a set of laser sensors 6. A clamping switch shaft 7 is installed at one end of each of the two irregular brackets 4 along its length direction. A drive assembly 8 is installed on the upper surface of the adjustment frame 3.

[0034] Each irregular bracket 4 is equipped with a clamping block lifting cylinder 9 at its upper end. Each clamping block lifting cylinder 9 is equipped with a clamping block opening and closing cylinder 10 at its output end. Each clamping block opening and closing cylinder 10 is slidably connected to a set of slidable clamping block bodies 11 along its track. Each clamping block opening and closing cylinder 10 is fixedly connected to a set of adjacent clamping block bodies 11.

[0035] A lifting cylinder 12 is installed at the top of the frame 1. The output end of the lifting cylinder 12 is fixedly connected to the adjusting frame 3. The lifting cylinder 12 drives the adjusting frame 3 to move vertically, which can precisely control the moving distance and speed of the adjusting frame 3. The cylinder has the characteristics of fast response speed and high control precision, which can quickly and accurately adjust the position of the adjusting frame 3, so that the clamping mechanism can quickly adapt to the magazines of different heights, improving the flexibility and efficiency of the clamping operation. The inner bottom wall of the adjusting frame 3 has multiple notches 13. The left and right notches 13 are slidably connected along their inner walls to L-shaped... The L-shaped threaded sliding block 14 is fixedly connected to the bottom end of the two irregularly shaped brackets 4. The upper and lower cylinders 9 of the two pull clamp blocks are located in the adjacent notches 13. The design of the notches 13 and the threaded sliding block 14 makes the installation of the irregularly shaped brackets 4 and the upper and lower cylinders 9 of the pull clamp blocks more stable, and at the same time facilitates position adjustment. The L-shaped threaded sliding block 14 can slide in a specific direction within the notch 13. When it is necessary to adjust the position of the irregularly shaped brackets 4 according to different specifications of magazines, it is only necessary to move the threaded sliding block 14, which is convenient and quick to operate.

[0036] The drive assembly 8 includes two lead screws 801 rotatably connected to the inner bottom wall of the adjusting frame 3. Two threaded sliding blocks 14 are threadedly connected to their adjacent lead screws 801. Two servo motors 802 are fixedly connected to the upper surface of the adjusting frame 3. One end of each lead screw 801 is fixedly connected to the output end of the adjacent servo motor 802. The servo motors 802 drive the lead screws 801 to move the threaded sliding blocks 14, achieving precise control of the position of the irregularly shaped bracket 4. The servo motors 802 have high-precision position control, speed control, and torque control capabilities, and can accurately control the rotation angle and speed of the lead screws 801 according to a preset program, thereby enabling precise control of the position of the threaded sliding blocks 14. Adjust the moving distance and position of the irregular support 4. The upper end of the frame 1 is provided with a U-shaped positioning plate 15. The bottom end of the positioning plate 15 is fixedly connected with multiple limit rods 16 arranged in a matrix and can slide vertically along the frame 1. Each limit rod 16 is vertically slidably inserted into the frame 1 through a sliding bearing. The other end of each limit rod 16 is fixedly connected to the adjustment frame 3. The combination of the U-shaped positioning plate 15 and the limit rods 16 provides precise guidance and stable support for the vertical lifting and lowering of the adjustment frame 3. The multiple limit rods 16 arranged in a matrix can evenly bear the force generated by the adjustment frame 3 during the lifting and lowering process, reduce the shaking and offset of the adjustment frame 3, and ensure that the adjustment frame 3 always moves along the predetermined vertical direction.

[0037] The magazine mechanism 2 includes a magazine body 201 and two symmetrical positioning rods 202 fixedly connected to the inner wall of the magazine body 201. Two sets of symmetrical sliding grooves 203 are formed on the outer surface of the magazine body 201. A sliding rod 204 slides between each pair of corresponding sliding grooves 203. A clamping arm 205 slides between each pair of vertically corresponding sliding rods 204. Two clamping beams 206 slide between the two positioning rods 202. A clamping block 207 is fixedly connected to the upper surface of each clamping beam 206. A piezoelectric core block 208 is fixedly connected to the bottom end of each clamping beam 206. Locking devices are installed on the upper surface of each clamping beam 206. The clamping control switch 209 of the clamping beam 206 and the upper surface of both clamping beams 206 are provided with a set of clamping holes 210 that are adapted to the clamping pins 5. The design of the magazine mechanism 2 makes the clamping and clamping operation of the magazine more convenient and quick. The positioning rod 202 provides precise guidance for the sliding of the clamping beam 206, ensuring the stability of the clamping beam 206 during movement. The combination of the sliding groove 203 and the sliding rod 204 allows the clamping arm 205 to move flexibly, which is convenient for fixing and releasing the items in the magazine. The matching design of the clamping hole 210 and the clamping pin 5 ensures that the clamping pin 5 can be accurately inserted to achieve efficient clamping action.

[0038] Two positioning cylinders 17 are installed in the middle of the frame 1. The output ends of the two positioning cylinders 17 are fixedly connected to positioning clamps 18 for fixing the magazine body 201. The positioning cylinders 17 and positioning clamps 18 can quickly fix the magazine after it reaches the designated position, preventing the magazine from moving or shaking during the opening process, thus ensuring the accuracy and stability of the opening operation.

[0039] It should be noted that a laser sensor is a high-precision detection and measurement device based on laser technology. Its core principle is to use the physical characteristics of laser beams (such as monochromaticity, directionality, and high energy density) to perform non-contact detection of target objects, and to obtain key information such as the target's position, distance, shape, and speed by receiving and analyzing the reflected or scattered laser signals.

[0040] The working principle of the above embodiment is as follows: when the magazine body 201 is located below the frame 1, the two positioning cylinders 17 can push the two positioning clamps 18 to fix the magazine body 201, so that the magazine body 201 remains stable.

[0041] Subsequently, the lifting cylinder 12 pushes the adjusting frame 3 down. After the laser sensor 6 senses the position of the clamping beam 206, the servo motor 802 drives the lead screw 801, which in turn drives the threaded sliding block 14 to adjust the position of the irregular bracket 4, so that the switch pin 5 corresponds to the position of the clamping hole 210. Then, the pulling clamp block lifting cylinder 9 pushes the pulling clamp block opening and closing cylinder 10 down, so that the clamping switch shaft 7 contacts the clamping control switch 209, unlocking the clamping beam 206. At the same time, the clamping pin 5 will be inserted into the clamping hole 210 to complete the positioning. The pulling clamp block opening and closing cylinder 10 will drive the clamping of the two clamping blocks 207. The servo motor 802 can adjust the position of the irregular bracket 4 through the lead screw 801. Since the switch pin 5 is located inside the clamping hole 210, the irregular bracket 4 will drive the two clamping beams 206 to move away from each other, thereby completing the clamping operation.

[0042] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0043] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An AGV shuttle machine magazine opening and closing mechanism with precise positioning, comprising a frame (1) and a magazine mechanism (2) within the frame (1), characterized in that: The upper end of the frame (1) is provided with an adjustment frame (3) that can be raised and lowered vertically. The bottom end of the adjustment frame (3) is provided with two irregular brackets (4). The bottom end of each of the two irregular brackets (4) is fixedly connected with a set of clamping pins (5) and a set of laser sensors (6). One end of each of the two irregular brackets (4) along its length direction is equipped with a clamping switch shaft (7). The upper surface of the adjustment frame (3) is equipped with a drive assembly (8). Each of the irregular brackets (4) is equipped with a clamping block upper and lower cylinder (9) at its upper end. Each clamping block upper and lower cylinder (9) is equipped with a clamping block opening and closing cylinder (10) at its output end. Each clamping block opening and closing cylinder (10) is slidably connected to a set of slidable clamping block bodies (11) along its track. Each clamping block opening and closing cylinder (10) is fixedly connected to a set of adjacent clamping block bodies (11).

2. The AGV shuttle machine clip opening mechanism with precise positioning as described in claim 1, characterized in that: A lifting cylinder (12) is installed at the top of the frame (1), and the output end of the lifting cylinder (12) is fixedly connected to the adjustment frame (3).

3. The AGV shuttle machine magazine opening mechanism with precise positioning as described in claim 1, characterized in that: The inner bottom wall of the adjustment frame (3) has multiple notches (13), and the left and right notches (13) are slidably connected with L-shaped threaded sliding blocks (14) along their inner walls. The two irregular brackets (4) are fixedly connected to the bottom ends of the adjacent threaded sliding blocks (14), and the upper and lower cylinders (9) of the two clamping blocks are located in the adjacent notches (13).

4. The AGV shuttle machine magazine opening mechanism with precise positioning as described in claim 3, characterized in that: The drive assembly (8) includes two lead screws (801) rotatably connected to the inner bottom wall of the adjustment frame (3). The two threaded sliding blocks (14) are threadedly connected to the lead screws (801) that are close to each other. The upper surface of the adjustment frame (3) is fixedly connected to two servo motors (802). One end of each of the two lead screws (801) is fixedly connected to the output end of the servo motors (802) that are close to each other.

5. The AGV shuttle machine clip opening mechanism with precise positioning as described in claim 1, characterized in that: The upper end of the frame (1) is provided with a U-shaped positioning plate (15). The bottom end of the positioning plate (15) is fixedly connected with a plurality of limiting rods (16) arranged in a matrix and able to slide vertically along the frame (1). Each limiting rod (16) is vertically slidably inserted into the frame (1) through a sliding bearing. The other end of each limiting rod (16) is fixedly connected to the adjustment frame (3).

6. The AGV shuttle machine clip opening mechanism with precise positioning as described in claim 1, characterized in that: The magazine mechanism (2) includes a magazine body (201) and two symmetrical positioning rods (202) fixedly connected to the inner wall of the magazine body (201). The outer surface of the magazine body (201) is provided with two sets of symmetrical sliding grooves (203). A sliding rod (204) slides between each pair of corresponding sliding grooves (203). A clamping arm (205) slides between each pair of vertically corresponding sliding rods (204). Two positioning rods (202) slide between each pair of positioning rods (202). The clamping beams (206) are fixedly connected to the upper surfaces of the two clamping beams (207), and the bottom ends of the two clamping beams (206) are fixedly connected to the piezoelectric core blocks (208). The upper surfaces of the two clamping beams (206) are equipped with clamping control switches (209) for locking the clamping beams (206). The upper surfaces of the two clamping beams (206) are provided with a set of clamping holes (210) that are compatible with the clamping pins (5).

7. The AGV shuttle machine magazine opening mechanism with precise positioning as described in claim 6, characterized in that: Two positioning cylinders (17) are installed at the middle of the frame (1), and the output ends of the two positioning cylinders (17) are fixedly connected to positioning clamps (18) for fixing the magazine body (201).

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