Clamping jaw, kit and AGV replenishment vehicle

Abstract

The utility model relates to a kind of clamping jaw, kit and AGV material supplementing vehicle, including connecting plate, rotating component and the clamping arm being set in the connecting portion both sides, the clamping arm parallel setting, clamping arm is used to hold the side wall of material box, connecting portion is connected with rotating mechanism transmission, rotating component is used to drive connecting plate rotation, the pivot center of rotating component is located in the side of material box.The utility model is closely combined with the outside wall of material box by being provided with parallel clamping arm, and the connecting portion of the present scheme realizes overturning function by rotating component, and the overturning dumping function after clamping jaw clamps material box, the pivot center of rotating mechanism is set in the side of material box, then the clamping jaw clamped from the side of material box keeps material box stress and clamping arm clamping direction parallel or coincides most of the time when overturning, can guarantee the friction between clamping arm and material box, improve the stability when material box pours material.

Description

Technical Field

[0001] This utility model relates to the field of transfer equipment technology, specifically to a gripper, a kit, and an AGV replenishment vehicle. Background Technology

[0002] Wheelsets are important components on trains. A wheelset typically includes an axle, and bearings are usually installed at both ends of the axle. During the assembly of bearings on the axle, some related parts also need to be assembled, such as a rear stop (or rear end cover) that matches the bearing, spacers (usually plastic steel spacers), and a front cover assembly that matches the axle (including the front cover (or end cover, pressure plate), nameplate, stop plate, and several bolts). In the existing assembly process, the above-mentioned parts are usually manually stacked in the preparation room in advance, and then these parts are transferred in batches to the corresponding loading station using transfer equipment (such as transfer cars). Finally, the parts are transferred to the loading station so that the assembly system can use the parts at the loading station for assembly.

[0003] To improve transfer efficiency, loading fixtures are usually used during the transfer of workpieces. Loading fixtures can constrain multiple workpieces of the same type. Multiple workpieces can be transferred simultaneously by simply moving the loading fixture, thus achieving the purpose of batch transfer of workpieces. In the actual assembly process, the loading fixtures that constrain workpieces are usually quite heavy, and it would be very laborious to handle them manually. Therefore, it is usually necessary to use transfer equipment for transfer.

[0004] During the assembly of railway freight cars, various parts are required to assemble and connect different positions of the wheelset. In the assembly process, since the parts on the loading rack are continuously consumed, the materials need to be stacked in advance in the preparation room. Then, the transfer equipment is used to transfer these workpiece parts in batches to the corresponding loading rack for timely replenishment, so that the assembly system can continue to assemble.

[0005] However, when the material bins used for transfer are transferred to the loading rack, the parts inside need to be unloaded by tilting. Current technology often uses grippers to pick up the bins and then a robotic arm to tilt them. However, in this method, the tilting direction of the bin is perpendicular to the gripping force of the grippers during the tilting process. Therefore, after the bin's center of gravity shifts, the gripping direction of the grippers does not match the force direction of the bin. For example, during unloading, the bin is subjected to an oblique pulling force, while the grippers only clamp horizontally. The component of the pressure in the direction of the force is insufficient, resulting in reduced effective friction. This makes it easy for slippage to occur between the grippers and the bin, causing the bin to detach from the grippers and affecting the unloading process. Utility Model Content

[0006] The first aspect of this utility model aims to solve the technical problem of slippage between the gripper and the material box by providing a gripper that can fit the material box with the gripping arm, thereby increasing the contact area between the gripper and the material box and improving the stability during gripping.

[0007] To achieve the above objectives, this utility model provides a gripper, including a connecting plate, a rotating assembly, and gripping arms disposed on both sides of the connecting portion. The gripping arms are arranged in parallel on both sides and are used to grip the side wall of the material box. The connecting portion is connected to a rotating mechanism for transmission, and the rotating assembly is used to drive the connecting plate to rotate. The center of the rotating axis of the rotating assembly is located on the side of the material box. This solution, by providing parallel gripping arms that fit tightly against the outer side wall of the material box, and by using the rotating assembly to achieve a flipping function in the connecting portion, completes the flipping and tilting function after the gripper has gripped the material box. Since the center of the rotating axis of the rotating mechanism is located on the side of the material box, the gripper, which grips from the side of the material box, maintains the force on the material box parallel to or coincident with the gripping direction of the gripping arms for most of the time during flipping, ensuring friction between the gripping arms and the material box and improving the stability of the material box during unloading.

[0008] Preferably, one end of the clamping arm is connected to the connecting plate, and the other end of the clamping arm forms a wedge-shaped portion. The wedge-shaped portion has inclined surfaces on opposite sides, and its thickness decreases in the direction away from the connecting plate. The wedge-shaped structure allows for clamping along the outer wall of the material box, and the narrow end of the wedge-shaped portion can serve as a positioning reference, guiding the material box to quickly embed into the corresponding position of the clamping jaws during clamping.

[0009] Preferably, the connecting part is equipped with an electromagnetic chuck, which is used to attract the material box. The electromagnetic chuck is connected to a control switch, which is used to control the opening or closing of the electromagnetic chuck by switching the current on and off. The magnetic attraction between the electromagnetic chuck and the material box ensures a tight gripping connection, further improving the stability of the gripper.

[0010] The second aspect of this invention aims to address the technical problem of inconvenient clamping and positioning of the gripper and the material box. Furthermore, this invention provides a kit including insert sleeves disposed on both sides of the material box. Each insert sleeve has an insert cavity for accommodating a gripper arm, and the insert cavities of the two insert sleeves are parallel to each other. By symmetrically arranging the insert sleeves on the outside of the material box, the material box can be quickly clamped and connected through the cooperation of the gripper arm and the insert sleeve.

[0011] To facilitate smoother insertion of the clamping arm, the insertion cavity preferably includes a horizontal section and a transition section. The transition section adopts an outward-opening flared structure, with its smaller diameter end connected to the horizontal section. This design provides a flared structure with an outwardly expanding opening, which increases the guiding range during clamping arm insertion. Even with minor alignment deviations between the clamping arm and the insertion sleeve, the flared structure can guide the clamping arm smoothly into the horizontal section via its inclined inner wall, reducing alignment adjustment time, enabling rapid insertion, and significantly improving clamping efficiency.

[0012] An AGV (Automated Guided Vehicle) replenishment vehicle, including grippers and kits.

[0013] Preferably, the device also includes a transfer vehicle and a frame and robotic arm mounted on the transfer vehicle. The frame has placement compartments for storing material bins and control components, and the robotic arm is connected to grippers via a drive mechanism. The transfer vehicle enables the transfer function, and the multi-degree-of-freedom robotic arm enables the grippers to grasp and unload the material bins.

[0014] The beneficial effects of this utility model are as follows:

[0015] By setting parallel clamping arms that fit tightly against the outer wall of the material box, and by using a rotating assembly to achieve a flipping function at the connection part of this solution, the material box is flipped and tilted after being gripped by the clamping claws. The center of the rotating shaft of the rotating mechanism is set on the side of the material box, so the clamping claws gripping from the side of the material box keep the force on the material box parallel or coincident with the clamping direction of the clamping arms for most of the time during the flipping process. This ensures the friction between the clamping arms and the material box and improves the stability of the material box during the pouring process. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the gripper structure of this utility model.

[0017] Figure 2 This is a schematic diagram of the structure of the kit of this utility model.

[0018] Figure 3 This is a schematic diagram of the structure of the gripper and kit of this utility model.

[0019] Figure 4 This is a schematic diagram of the structure of the AGV replenishment vehicle of this utility model.

[0020] The reference numerals in the attached drawings include: 1. clamping arm; 11. wedge-shaped part; 2. connecting plate; 3. rotating assembly; 4. electromagnetic chuck; 5. material box; 6. plug-in sleeve; 61. horizontal section; 62. transition section; 7. transfer vehicle; 8. frame; 81. placement compartment; 9. robotic arm. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0022] In this disclosure, unless otherwise stated, directional terms such as "inner" and "outer" are defined based on the contours of the corresponding components. Terms such as "first" and "second" used in this disclosure are for distinguishing one element from another and do not imply sequence or importance.

[0023] Example 1

[0024] like Figure 1 and Figure 3 As shown, this embodiment provides a gripper, including a connecting plate 2, a rotating assembly 3, and gripping arms 1 disposed on both sides of the connecting part. The gripping arms 1 on both sides are arranged in parallel and are used to grip the side wall of the material box 5. The connecting part is connected to the rotating mechanism for transmission. The rotating assembly 3 is used to drive the connecting plate 2 to rotate, and the center of the rotating shaft of the rotating assembly 3 is located on the side of the material box 5. This solution has parallel gripping arms 1 that fit tightly against the outer side wall of the material box 5. In addition, the connecting part of this solution realizes the flipping function through the rotating assembly 3 to complete the flipping and tilting function after the gripper has gripped the material box 5. The center of the rotating shaft of the rotating mechanism is located on the side of the material box 5. Therefore, the gripper gripping from the side of the material box 5 keeps the force on the material box 5 parallel or coincident with the gripping direction of the gripping arm 1 for most of the time when flipping, which can ensure the friction between the gripping arm 1 and the material box 5 and improve the stability of the material box 5 when pouring.

[0025] One end of the clamping arm 1 is connected to the connecting plate 2, and the other end of the clamping arm 1 forms a wedge-shaped portion 11. The wedge-shaped portion 11 has inclined surfaces on its opposite sides, and its thickness decreases in the direction away from the connecting plate 2. The wedge structure allows for clamping along the outer wall of the material box 5. The narrow end of the wedge-shaped portion 11 can serve as a positioning reference, guiding the material box 5 to quickly embed into the corresponding position of the clamping jaws during the clamping process.

[0026] like Figure 1 As shown, the connecting part is equipped with an electromagnetic chuck 4, which is used to attract the material box 5. The electromagnetic chuck 4 is connected to a control switch, which is used to control the opening or closing of the electromagnetic chuck 4 by switching the current on and off. The magnetic attraction between the electromagnetic chuck assembly and the material box 5 makes the clamping connection tight, further improving the clamping stability.

[0027] Example 2

[0028] Based on Example 1, this example addresses the technical problem of inconvenient clamping and positioning of the gripper and the material box 5. For example... Figures 2-3 As shown, this utility model provides a kit including plug-in sleeves 6, which are disposed on both sides of the outside of the material box 5. Each plug-in sleeve 6 has a plug-in cavity for accommodating clamping arms 1, and the opening directions of the plug-in cavities of the two plug-in sleeves 6 are parallel to each other. By symmetrically arranging the plug-in sleeves 6 on the outside of the material box 5, the material box 5 can be quickly clamped and connected through the cooperation of the clamping arms 1 and the plug-in sleeves 6.

[0029] To facilitate smoother insertion of the clamping arm 1, the insertion cavity includes a horizontal section 61 and a transition section 62. The transition section 62 adopts an outward-opening flared structure, with its smaller diameter end connected to the horizontal section 61. This design provides a flared structure with an outwardly expanding opening, which increases the guiding range of the clamping arm 1 during insertion. Even if there is a slight misalignment between the clamping arm 1 and the insertion sleeve 6, the flared structure can guide the clamping arm 1 smoothly into the horizontal section 61 through its inclined inner wall, reducing alignment adjustment time, enabling rapid insertion, and significantly improving clamping efficiency.

[0030] like Figure 4 As shown, this embodiment provides an AGV replenishment vehicle, including grippers and kits.

[0031] It also includes a transfer vehicle 7, a frame 8 and a robotic arm 9 mounted on the transfer vehicle 7. The frame 8 has a placement compartment 81 for placing the material bin 5 and control components. The robotic arm 9 is connected to the gripper via a drive mechanism. The transfer vehicle 7 realizes the transfer function, and the multi-degree-of-freedom robotic arm 9 realizes the gripper's grasping and unloading of the material bin 5.

[0032] The above descriptions are merely embodiments of this utility model, and common knowledge regarding specific structures and characteristics is not elaborated upon here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the structure of this utility model, and these should also be considered within the scope of protection of this utility model. These modifications will not affect the effectiveness of the implementation of this utility model or the practicality of the patent. The scope of protection claimed in this application shall be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A gripper, characterized in that: It includes a connecting plate (2), a rotating assembly (3) and clamping arms (1) arranged on both sides of the connecting part. The clamping arms (1) on both sides are arranged in parallel. The clamping arms (1) are used to clamp the side wall of the material box (5). The connecting part is connected to the rotating mechanism for transmission. The rotating assembly (3) is used to drive the connecting plate (2) to rotate. The center of the rotating shaft of the rotating assembly (3) is located on the side of the material box (5).

2. A gripper according to claim 1, characterized in that: One end of the clamping arm (1) is connected to the connecting plate (2), and the other end of the clamping arm (1) is formed with a wedge-shaped part (11). The opposite sides of the wedge-shaped part (11) are respectively provided with inclined surfaces, and the thickness of the wedge-shaped part (11) decreases in the direction away from the connecting plate (2).

3. A gripper according to claim 1, characterized in that: The connection part is provided with an electromagnetic chuck (4), which is used to adsorb the material box (5). The electromagnetic chuck (4) is connected to a control switch, which is used to control the magnetic attraction of the electromagnetic chuck (4) to open or close by switching the current.

4. A kit, characterized in that: Includes plug sleeves (6), which are disposed on both sides of the outside of the material box (5). The plug sleeves (6) are provided with plug-in cavities to accommodate clamping arms (1), and the plug-in cavities of the two plug sleeves (6) are opened in parallel directions.

5. The kit according to claim 4, characterized in that: The insertion cavity includes a horizontal section (61) and a transition section (62). The transition section (62) adopts a flared structure with the opening facing outwards. The small diameter end of the transition section (62) is connected to the horizontal section (61).

6. An AGV replenishment vehicle, characterized in that: It includes the gripper as described in any one of claims 1-3 and the kit as described in any one of claims 4-5.

7. The AGV replenishment vehicle according to claim 6, characterized in that: It also includes a transfer vehicle (7) and a frame (8) and a robotic arm (9) mounted on the transfer vehicle (7). The frame (8) is provided with a placement compartment (81) for placing a material box (5) and control components. The robotic arm (9) is connected to a gripper via a drive.

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