A clamping mechanism, clamping lifting assembly and unmanned forklift

Abstract

The utility model discloses a kind of embrace and clamp mechanism, embrace and clamp lifting assembly and unmanned fork truck, embrace and clamp mechanism includes mounting seat, first driving part, linkage rod and two embrace and clamp rods, mounting seat is horizontally arranged along left and right direction, two embrace and clamp rods are respectively active embrace and clamp rod and passive embrace and clamp rod, and interval distribution is above mounting seat, the rear end of passive embrace and clamp rod and the middle part corresponding with active embrace and clamp rod length direction are all with mounting seat horizontal rotation connection, one end of linkage rod is with the middle part corresponding with passive embrace and clamp rod length direction horizontal rotation connection, the other end of linkage rod is with the rear end of active embrace and clamp rod horizontal rotation connection, the front end of two embrace and clamp rods is all with chuck, first driving part is with the rear end transmission connection of active embrace and clamp rod, first driving part is used to drive active embrace and clamp rod rotation, and passive embrace and clamp rod is driven by linkage rod relative to active embrace and clamp rod reverse rotation, to make two chucks move to each other close or each other away. The structure of the embrace and clamp mechanism is simple, and embrace and clamp effect is good.

Description

Technical Field

[0001] This utility model belongs to the field of intelligent equipment, and in particular relates to a clamping mechanism, a clamping and lifting assembly, and an unmanned forklift. Background Technology

[0002] AGV forklifts serve as a platform for the intelligent transfer of items in a workshop. Components are typically stored on pallets in the workshop. To increase transport capacity, multiple pallets are stacked and loaded into trolleys, which are then moved between workstations by AGV forklifts. This increases transport capacity, and the trolleys can be easily moved between workstations with manual assistance. However, trolleys are prone to tipping over or tilting forward during transport by AGV forklifts, leading to them falling and causing damage. Currently, most trolleys have a hollow structure with four support columns at the four corners. While there are also clamp-type AGV forklifts, such as those described in CN218025278U ("A Clamp-Type AGV Forklift") and CN220334706U ("Anti-Cargo Drop Forklift for AGV Forklift"), their structures are relatively complex, and they can only provide protection on both sides, not prevent the trolley from tipping forward. Utility Model Content

[0003] In order to solve the above-mentioned technical problems, the purpose of this utility model is to provide a clamping mechanism with a simple structure and good clamping effect.

[0004] To achieve the above objectives, the technical solution of this utility model is as follows: A clamping mechanism includes a mounting base, a first driving member, a linkage rod, and two clamping rods, wherein the two clamping rods are an active clamping rod and a passive clamping rod, respectively. The mounting base is horizontally arranged in the left-right direction, and the two clamping rods are arranged in the front-back direction and spaced apart above the mounting base in the left-right direction. The rear end of the passive clamping rod and the middle part corresponding to the length direction of the active clamping rod are horizontally rotatably connected to the mounting base. One end of the linkage rod is horizontally rotatably connected to the middle part corresponding to the length direction of the passive clamping rod, and the other end of the linkage rod is horizontally rotatably connected to the rear end of the active clamping rod. The front ends of both clamping rods have clamps. The first driving member is drively connected to the rear end of the active clamping rod. The first driving member is used to drive the active clamping rod to rotate, and through the linkage rod, drives the passive clamping rod to rotate in the opposite direction relative to the active clamping rod, so that the two clamps move closer to each other or further away from each other.

[0005] The beneficial effects of the above technical solution are as follows: the active clamping rod rotates under the drive of the first driving component, and can drive the passive clamping rod to rotate synchronously in the opposite direction through the linkage rod. This allows the two clamping rods to rotate towards or away from each other. When the two clamps move towards each other, they can clamp the two support columns of the trolley at the rear, which can prevent the trolley from tilting to the side or forward. The entire clamping mechanism has a simple structure and is compact in size. When the two clamps move away from each other, they can release the two support columns of the trolley at the rear.

[0006] In the above technical solution, the first driving component is a telescopic driving component; the first driving component is horizontally arranged and rotatably mounted on the mounting base, and the driving end of the first driving component is rotatably connected to the rear end of the active clamping rod.

[0007] The beneficial effect of the above technical solution is that the driving end of the first driving member can drive the active clamping rod to rotate by moving linearly.

[0008] In the above technical solution, the distance from the rotatable connection point of each clamping rod to the mounting base to the corresponding clamp head is consistent; the distance from the rotatable connection point of each clamping rod to the mounting base to its rotatable connection point with the linkage rod is consistent.

[0009] The beneficial effect of the above technical solution is that it enables the two clamping rods to rotate synchronously, and the two clamps to always remain aligned in the left-right direction.

[0010] In the above technical solution, the two clamps have clamping grooves on their sides that are close to each other and vertically connected.

[0011] The beneficial effect of the above technical solution is that it enables the two clamps to securely and better hold the two support columns of the trolley at the rear.

[0012] The second objective of this utility model is to provide a clamping and lifting assembly with a simple structure and clamping and lifting functions.

[0013] To achieve the above objectives, another technical solution of this utility model is as follows: A clamping and lifting assembly includes a base plate, a lifting member, a support frame, and a clamping mechanism as described above. The base plate is horizontally arranged, the lifting member is vertically arranged in the middle of the upper front end of the base plate, the support frame is vertically arranged in the middle of the base plate, and the mounting seat is installed on the upper end of the support frame. The lifting member has a lifting portion located below the clamping mechanism, and the lifting member is used to drive the lifting portion to move vertically below the clamping mechanism.

[0014] The beneficial effect of the above technical solution is that the trolley can be clamped by the clamping mechanism first, and then the lifting component can lift the trolley upwards, or the lifting component can lift the trolley to a certain height first, and then the clamping mechanism can clamp the trolley.

[0015] The lifting component described in the above technical solution includes a fixed base, a sliding base, a lifting plate, and a second driving component. The fixed base is vertically disposed in the middle of the front side of the base plate. The sliding base is vertically disposed in front of the fixed base and is slidably connected to the fixed base. The lifting plate is horizontally disposed in the front-rear direction, and the rear end of the lifting plate is connected to the lower end of the sliding base. The second driving component is disposed on the base plate, and its driving end is kinetically connected to the sliding base. The second driving component is used to drive the sliding base to move the lifting plate up and down. The lifting plate constitutes the lifting part of the lifting component.

[0016] The beneficial effect of the above technical solution is that the stability of the slide when moving up and down can be improved by setting a fixed seat.

[0017] In the above technical solution, the second driving component is a linear driving component.

[0018] The advantages of the above technical solution are that it has a simple structure and good operational stability.

[0019] The support frame described in the above technical solution includes two vertically arranged support rods that are spaced apart on both sides of the lifting member in the left-right direction. The mounting base is used to install the upper ends of the two support rods, and the lifting member is located between the two support rods.

[0020] The beneficial effect of the above technical solution is that the mounting base and the two support rods form an n-shaped frame, which has good stability and will not hinder the normal operation of the lifting components.

[0021] The third objective of this utility model is to provide an unmanned forklift with a simple structure and a high degree of intelligence.

[0022] To achieve the above objectives, another technical solution of this utility model is as follows: an unmanned forklift, including an electric vehicle body and a clamping and lifting assembly as described above, wherein the middle of the front side of the electric vehicle body is recessed to form a receiving groove, and the clamping and lifting assembly is disposed at the inner rear end of the receiving groove.

[0023] The beneficial effect of the above technical solution is that it enables the clamping and lifting assembly to move flexibly under the drive of the electric vehicle body, so as to transfer the trolley to each workstation.

[0024] In the above technical solution, multiple rolling elements are arranged at intervals along the front-back direction on both sides of the receiving groove.

[0025] The beneficial effect of the above technical solution is that it allows the unmanned forklift to move until the trolley enters the receiving slot, and the lower end of the trolley can roll against the receiving slot, which can reduce frictional resistance. Attached Figure Description

[0026] Figure 1 One of the elevation views of the cart;

[0027] Figure 2 This is a front view of the cart;

[0028] Figure 3 This is the second elevation view of the cart;

[0029] Figure 4 This is a top view of the clamping mechanism described in Embodiment 1 of this utility model;

[0030] Figure 5 This is an elevation view of the clamping mechanism described in Embodiment 1 of this utility model;

[0031] Figure 6 This is one of the elevation views of the clamping and lifting assembly described in Embodiment 2 of this utility model;

[0032] Figure 7 This is one of the elevation views of the clamping and lifting assembly described in Embodiment 2 of this utility model;

[0033] Figure 8 This is a rear view of the clamping and lifting assembly described in Embodiment 2 of this utility model;

[0034] Figure 9 This is an assembly diagram of the slide, fixed seat, and base plate described in Embodiment 2 of this utility model;

[0035] Figure 10 This is a schematic diagram of the slide falling when the second driving component is a lead screw linear module in Embodiment 2 of this utility model;

[0036] Figure 11 This is a schematic diagram of the slide rising when the second driving component is a lead screw linear module in Embodiment 2 of this utility model;

[0037] Figure 12 This is a schematic diagram of the installation of the photoelectric sensor and the position sensor described in Embodiment 2 of this utility model;

[0038] Figure 13 This is a schematic diagram of the clamping and lifting assembly described in Embodiment 2 of this utility model clamping the trolley.

[0039] Figure 14 This is an elevation view of the unmanned forklift described in Embodiment 3 of this utility model;

[0040] Figure 15This is a top view of the unmanned forklift described in Embodiment 3 of this utility model;

[0041] Figure 16 This is an elevation view of the trolley being gripped by an unmanned forklift in Embodiment 3 of this utility model;

[0042] Figure 17 This is a front view of the trolley described in Embodiment 3 of this utility model when it is clamped by an unmanned forklift.

[0043] Figure 18 This is a side view of the trolley being held by an unmanned forklift in Embodiment 3 of this utility model.

[0044] In the diagram; 1. Clamping and lifting assembly; 11. Clamping mechanism; 111. Mounting base; 1111. Mounting rod; 1112. Mounting ear; 112. First driving component; 113. Linkage rod; 114. Clamping rod; 114a. Active clamping rod; 114b. Passive clamping rod; 1141. Clamp; 1142. Abutment block; 115. Limit adjustment component; 1151. Limiting ear; 1152. Adjusting bolt; 12. Base plate; 13. Lifting component; 131. Fixed base; 132. 133. Slide; 134. Lifting plate; 135. Second drive component; 14. Support frame; 146. Support rod; 147. Crossbar; 15. Photoelectric sensor; 16. Position sensor; 2. Electric vehicle body; 21. Receiving slot; 22. Rolling component; 100. Unmanned forklift; 200. Trolley; 210. Base plate; 220. Top plate; 230. Support column; 240. Wheel; 250. Enclosure; 260. Handle; 270. Guide strip; 271. Vertical part; 272. Horizontal part. Detailed Implementation

[0045] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0047] It is understood that spatial relation terms such as “below,” “under,” “below,” “below,” “above,” “above,” etc., can be used here to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms also include different orientations of the device in use and operation. For example, if the device in the figure is flipped, the element or feature described as “below,” “below,” or “below” will be oriented “above” the other element or feature. Therefore, the exemplary terms “below” and “under” can include both upper and lower orientations. Furthermore, the device may also include other orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptive terms used herein will be interpreted accordingly.

[0048] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediary element. In the following embodiments, "connection" should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have the transmission of electrical signals or data between them.

[0049] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0050] like Figures 1-3 As shown, the specific structure of the trolley 200 in the current related technology is as follows: it includes a base plate 210, a top plate 220, four support columns 230, and four wheels 240. The base plate 210 and top plate 220 are both horizontally arranged and are both square plates. The top plate 220 is located above the base plate 210. The four support columns 230 are vertically arranged at the four corners of the base plate 210, and the four wheels 240 are located at the four corners at the lower end of the base plate 210. The trolley 200 is located on the left... The trolley 200 has an open side or right side (the other three sides can be fully or partially enclosed by a panel 250). The front side of the trolley 200 is equipped with a handle 260 (the handle 260 is an "n" shaped handle). The open side of the trolley 200 is used for loading and unloading stacked pallets. The left and right sides of the bottom plate 210 are horizontally equipped with guide bars 270 with a cross-section of "L" shape (the guide bars 270 are angle steel bars) in the front and back direction, and the bottom edges of the two guide bars 270 face away from each other.

[0051] See details Figure 1As shown, the guide bar 270 in the related art has a vertical portion 271 and a horizontal portion 272. The horizontal portion 272 is located at the lower end of the vertical portion 271, and the horizontal portions 272 of both guide bars 270 protrude outward.

[0052] Preferably, the side of the trolley 200 adopts a semi-enclosed structure, and its enclosure panels 250 are all set in the middle of the corresponding side.

[0053] In this embodiment, since the lower end of the base plate 210 is provided with wheels 240, there is a gap (i.e., ground clearance) between the lower end of the base plate 210 and the ground.

[0054] Example 1

[0055] like Figure 4 and Figure 5 As shown, this embodiment provides a clamping mechanism 11, including a mounting base 111, a first driving member 112, a linkage rod 113, and two clamping rods 114. The two clamping rods 114 are an active clamping rod 114a and a passive clamping rod 114b, respectively. The mounting base 111 is horizontally arranged in the left-right direction. The two clamping rods 114 are both arranged in the front-back direction and spaced apart above the mounting base 111 in the left-right direction. The rear end of the passive clamping rod 114b and the middle part corresponding to the length direction of the active clamping rod 114a are both horizontally rotatably connected to the mounting base 111. The linkage rod 113 is arranged in the left-right direction between the two clamping rods 114. Furthermore, one end of the linkage rod 113 is horizontally rotatably connected to the middle of the passive clamping rod 114b in the length direction, and the other end of the linkage rod 113 is horizontally rotatably connected to the rear end of the active clamping rod 114a. The front ends of both clamping rods 114a have clamps 1141. The first driving member 112 is driven to the rear end of the active clamping rod 114a. The first driving member 112 is used to drive the active clamping rod 114a to rotate, and through the linkage rod 113, it drives the passive clamping rod 114b to rotate in the opposite direction relative to the active clamping rod 114a, so that the two clamps 1141 move closer to each other or further away from each other. This causes the active clamping rod 114a to rotate under the drive of the first driving member 112, and can drive the passive clamping rod 114b to rotate synchronously in the opposite direction through the linkage rod 113. This allows the two clamping rods 114 to rotate towards or away from each other. When the two clamps 1141 move towards each other, they can clamp the two support columns 230 of the trolley 200 at the rear. This can prevent the trolley 200 from tilting to the side or forward. The entire clamping mechanism 11 has a simple structure and is small in size. When the two clamps 1141 move away from each other, they can release the two support columns 230 of the trolley 200 at the rear.

[0056] In this embodiment, the first driving member 112 is a telescopic driving member; the first driving member 112 is horizontally arranged and rotatably mounted on the mounting base 111, and the driving end of the first driving member 112 is rotatably connected to the rear end of the active clamping rod 114a (e.g., Figure 4 (As shown). This allows the driving end of the first driving member 112 to move linearly, thereby driving the active clamping rod 114a to rotate.

[0057] like Figure 4 As shown, the distance from the rotatable connection point of each clamping rod 114 to the corresponding clamp 1141 is consistent (i.e., Figure 4 The lengths of dashed lines A1 and A2 are the same; the distance from the rotatable connection point of each clamping rod 114 to the rotatable connection point with the linkage rod 113 is the same (i.e., Figure 4 (The lengths of the dashed lines B1 and B2 are the same). This ensures that the two clamping rods 114 rotate synchronously, and that the two clamps 1141 remain aligned in the left-right direction.

[0058] like Figure 4 and Figure 5 As shown, in this embodiment, the two clamps 1141 have vertically penetrating grooves on their sides that are close to each other (and the opening ends of the two grooves are close to each other and are flared). This allows the two clamps 1141 to securely and better clamp the two support columns 230 of the trolley 200 located at the rear.

[0059] Specifically, the first driving component 112 can be a telescopic electric cylinder, a telescopic air cylinder, a hydraulic cylinder, or an electromagnetic push rod.

[0060] Specifically, such as Figure 4 and Figure 5 As shown, in this embodiment, the mounting base 111 includes a mounting rod 1111 horizontally arranged in the left-right direction and a mounting ear 1112 protruding from the middle of the rear of the mounting rod 1111. The two clamping rods 114 are rotatably connected to the two ends of the mounting rod 1111, and the first driving member 112 is rotatably connected to the mounting ear 1112.

[0061] like Figure 4 and Figure 5 As shown, the clamping mechanism 11 in this embodiment further includes a limiting adjustment member 115. The limiting adjustment member 115 is disposed at the front end of the mounting base 111 and located between the two clamping rods 114. It is used to adjust the minimum distance between the two clamps 1141 when the two clamping rods 114 rotate to approach each other.

[0062] like Figure 4 and Figure 5As shown, the limiting adjustment component 115 includes a limiting ear 1151 and an adjusting bolt 1152. The limiting ear 1151 protrudes from the front end of the mounting rod 1111 and is located between the two clamping rods 114, near the active clamping rod 114a. The limiting ear 1151 has a threaded hole that extends through the rod and is aligned with the active clamping rod 114a. The adjusting bolt 1152 passes through the threaded hole and is threadedly connected to the limiting ear 1151. The threaded end of the adjusting bolt 1152 protrudes outside the threaded hole. Tighten or loosen the adjusting bolt 1152 toward the active clamping rod 114a to adjust the minimum distance between the two clamps 1141 when the two clamping rods 114 rotate to approach each other (when the two clamping rods 114 rotate to approach each other, the minimum included angle between them is when the active clamping rod 114a abuts against the adjusting bolt 1152. Preferably, an enlarged abutting block 1142 is added at the position where the inner side of the active clamping rod 114a is aligned with the adjusting bolt 1152, so that the abutting effect is better).

[0063] In this embodiment, when the clamping mechanism 11 clamps the two support columns 230 at the rear end of the trolley 200 from the rear, it is not necessary to clamp the two support columns 230 tightly. It is only necessary to restrict the trolley 200 from tipping over (the trolley 200 can still sway slightly between the two clamps 1141, and can also move up and down relative to the two clamps 1141, but cannot get out from between the two clamps 1141).

[0064] In this embodiment, the length of the active clamping rod 114a is greater than the length of the passive clamping rod 114b.

[0065] Example 2

[0066] like Figures 6-8 As shown, this embodiment provides a clamping and lifting assembly 1, including a base plate 12, a lifting member 13, a support frame 14, and a clamping mechanism 11 as described in Embodiment 1. The base plate 12 is horizontally arranged, the lifting member 13 is vertically arranged in the middle of the upper front end of the base plate 12, the support frame 14 is vertically arranged in the middle of the base plate 12, and the mounting seat 111 is mounted on the upper end of the support frame 14. The lifting member 13 has a lifting portion located below the clamping mechanism 11, and the lifting member 13 is used to drive the lifting portion to move vertically below the clamping mechanism 11. Thus, the clamping mechanism 11 can first clamp the trolley 200, and then the lifting member 13 can lift the trolley 200 upwards, or the lifting member 13 can first lift the trolley 200 to a certain height, and then the clamping mechanism 11 can clamp the trolley 200.

[0067] like Figures 6-9As shown, in this embodiment, the lifting member 13 includes a fixed base 131, a slide 132, a lifting plate 133, and a second driving member 134. The fixed base 131 is vertically disposed in the middle of the front side of the base plate 12. The slide 132 is vertically disposed in front of the fixed base 131 and slidably connected to the fixed base 131. The lifting plate 133 is horizontally disposed in the front-rear direction, and its rear end is connected to the lower end of the slide 132. The second driving member 134 is disposed on the base plate 12, and its driving end is kinetically connected to the slide 132. The second driving member 134 is used to drive the slide 132 to move the lifting plate 133 up and down. The lifting plate 133 constitutes the lifting part of the lifting member 13. By setting the fixed base 131, the stability of the slide 132 when moving up and down can be improved.

[0068] like Figure 8 , Figure 10 and Figure 11 As shown, in the above technical solution, the second driving component 134 is a telescopic driving component or a linear driving component. It has a simple structure and good operational stability.

[0069] like Figures 6-8 and Figure 12 As shown, the support frame 14 in the above technical solution includes two vertically arranged support rods 141 spaced apart on both sides of the lifting member 13 in the left-right direction. The mounting base 111 mounts the upper ends of the two support rods 141, and the lifting member 13 is located between the two support rods 141. This makes the mounting base 111 and the two support rods 141 form an n-shaped frame, which has good stability and does not hinder the normal operation of the lifting member 13.

[0070] like Figure 6 and Figure 9 As shown, in this embodiment, the fixed seat 131 is a plate with one side facing forward, and the slide 132 is a groove shape with open lower and rear ends. The fixed seat 131 is located inside the slide 132, and the inner groove wall on the front side of the slide 132 is slidably connected to the fixed seat 131 (sliding connection can be achieved by a slider and a slide rail, which can improve the stability of the slide 132 relative to the fixed seat 131 in vertical sliding. This is a conventional technology in the field and will not be described in detail here). Preferably, the second driving member 134 is located in the groove of the slide 132 and is installed on the base plate 12. The driving end of the second driving member 134 is connected to the slide 132 in a transmission manner.

[0071] like Figure 9 As shown, the slide 132 in this embodiment adopts a groove shape, which makes the lifting component 13 more aesthetically pleasing and structurally stronger.

[0072] like Figure 6 , Figure 8 , Figure 10 and Figure 11 As shown, the first driving component 112 can be a telescopic electric cylinder, a telescopic air cylinder, a hydraulic cylinder, or a lead screw linear module. When the second driving component 134 is a telescopic electric cylinder, a telescopic air cylinder, or a hydraulic cylinder, the telescopic end of the second driving component 134 faces upward and is connected to the inner top wall of the slide block 132 via transmission (e.g., Figure 9 As shown, at this time, the two sides of the fixing seat 131 can be bent backward to strengthen the connection with the base plate 12, and the whole is in the shape of a groove; as Figure 10 and Figure 11 As shown, when the second driving member 134 is a lead screw linear module, the driving end of the second driving member 134 can be connected to the inner lower ends on the left and right sides of the slide block 132 for transmission.

[0073] like Figures 6-8 and Figure 12 As shown, in this embodiment, the support frame 14 may also include a crossbar 142, which is arranged between the two support rods 141 in the left-right direction (the two ends of the crossbar 142 are fixedly connected to the two support rods 141 respectively, and the support frame 14 is in an "H" shape). It is located above the slide block 132, which can improve the structural strength of the support frame 14. At the same time, the second driving member 134 drives the slide block 132 to move up and down below the crossbar 142.

[0074] like Figure 12 As shown, a forward-facing position sensor 16 (which may be a limit switch or a proximity switch) may be provided on the crossbar 142 to sense whether the rear side of the trolley 200 is close to the clamping and lifting assembly 1.

[0075] like Figure 12 and Figure 13As shown, when the clamping and lifting assembly 1 needs to lift the trolley 200, the trolley 200 must first move backward relative to the clamping and lifting assembly 1 until the lifting plate 133 is inserted below the base plate 210, and the rear end panel 250 of the trolley 200 is close to the position sensor 16. When the position sensor 16 generates a signal, it can be considered that the trolley 200 has moved backward relative to the clamping and lifting assembly 1. Then, the first driving member 112 drives the two clamping rods 114 to rotate to the two clamps 1141. The two support columns 230 at the rear end of the trolley 200 are clamped together, and then the second drive member 134 drives the slide 132 to lift the lifting plate 133 to raise the trolley 200 off the ground; or the second drive member 134 first drives the slide 132 to lift the lifting plate 133 to raise the trolley 200 off the ground, and then the first drive member 112 drives the two clamping rods 114 to rotate so that the two clamps 1141 clamp the two support columns 230 at the rear end of the trolley 200.

[0076] like Figure 12 and Figure 13 As shown, in this embodiment, each of the clamps 1141 can be provided with a photoelectric sensor 15 (which can be an infrared ranging sensor) with its sensing part facing forward at its upper rear end. The photoelectric sensor 15 is used to sense whether the corresponding clamp 1141 is clamping the support column 230. [When the two clamps 1141 clamp the trolley 200, the distance between the support column 230 in each clamping slot and the corresponding photoelectric sensor 15 is a fixed value. When the two clamping rods 114 swing to a state close to each other, and the ranging value detected by the two photoelectric sensors 15 is equal to the above fixed value (slight fluctuations are allowed), it can be considered that the two support columns 230 at the rear end of the trolley 200 are successfully clamped by the two clamps 1141. Otherwise, it is considered that the two clamps 1141 have not clamped the support column 230.]

[0077] like Figure 1 , Figure 2 and Figure 13 As shown, in this embodiment, the rear panel 250 of the trolley 200 is located in the middle, which allows the upper ends of the two support columns 230 located at the rear to be clamped by two clamps 1141, and also provides a margin of movement for the trolley 200 to slide upward relative to the clamping mechanism 11.

[0078] Example 3

[0079] like Figure 14 and Figure 15As shown, this embodiment provides an unmanned forklift 100, including an electric vehicle body 2 and a clamping and lifting assembly 1 as described in Embodiment 2. The middle of the front side of the electric vehicle body 2 is recessed rearward to form a receiving groove 21, and the clamping and lifting assembly 1 is disposed at the inner rear end of the receiving groove 21. This allows the clamping and lifting assembly 1 to move flexibly under the drive of the electric vehicle body 2 to transfer the trolley 200 to various workstations (preferably, in this embodiment, the upper rear end of the electric vehicle body protrudes beyond the upper ends of both sides of the receiving groove, thus improving its aesthetics).

[0080] like Figure 14 and Figure 15 As shown, in this embodiment, multiple rolling elements 22 are spaced apart on both sides of the receiving groove 21 along the front-rear direction. This allows the unmanned forklift 100 to move until the trolley 200 enters the receiving groove 21, where the lower end of the trolley 200 can roll against the receiving groove 21, thus reducing frictional resistance. Specifically, the rolling elements 22 are balls or rollers. In this embodiment, the height of the rolling elements 22 is aligned with the vertical portion 271 at the lower end of the trolley 200. At this time, the rolling elements 22 on both sides of the receiving groove 21 can roll into contact with the corresponding vertical portion to reduce frictional resistance. Preferably, the front end of the receiving groove 21 is flared, allowing the trolley 200 to enter the receiving groove 21 more easily.

[0081] In this embodiment, the electric vehicle body 2 is an AGV (Automated Guided Vehicle). In this embodiment, the first drive unit 112, the second drive unit 134, the photoelectric sensor 15, and the position sensor 16 can all be electrically connected to the control module inside the electric vehicle body 2 (and are also powered by the power battery of the electric vehicle body 2). This makes the integration of the entire unmanned forklift 100 highly integrated (in this embodiment, the AGV is a prior art technology, and only a receiving groove 21 is recessed in the middle of its front side).

[0082] In this embodiment, the width of the receiving groove 21 is greater than the width of the trolley 200, so that the rear end of the trolley 200 can enter the receiving groove 21. Preferably, the depth of the receiving groove 21 in the front-to-back direction is greater than the length of the trolley 200 in the front-to-back direction, so that the trolley 200 can completely enter the receiving groove 21.

[0083] like Figures 16-18 As shown, the unmanned forklift 100 provided in this embodiment operates on the following principle:

[0084] After the trolley 200 is placed on the ground, the unmanned forklift 100 moves to directly behind the trolley 200, with its receiving slot 21 facing forward and aligned with the trolley 200. Then, the unmanned forklift 100 moves forward until the lifting plate 133 extends under the base plate 210, and at the same time, the trolley 200 also enters the receiving slot 21. When the position sensor 16 generates a sensing signal, it indicates that the trolley 200 has completely entered the receiving slot 21. Within 1, the first driving component 112 drives the clamping mechanism 11 to clamp the two support columns 230 at the rear end of the trolley 200, and the second driving component 134 drives the slide 132 to lift the lifting plate 133 to lift the trolley 200 upward (the trolley 200 can be clamped first and then lifted; or the trolley 200 can be lifted first and then clamped). Then the unmanned forklift 100 can transfer the trolley 200 to the destination workstation.

[0085] After the trolley 200 reaches the destination workstation, the first drive unit 112 can drive the clamping mechanism 11 to release the two support columns 230 at the rear of the trolley 200, and the second drive unit 134 can drive the slide 132 to lift the lifting plate 133 to lower the trolley 200 to the ground (the trolley 200 can be released first and then lowered; or the trolley 200 can be lowered first and then released). Then the unmanned forklift 100 can move the trolley 200 out of the receiving slot 21 by reversing.

[0086] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A clamping mechanism, characterized in that, The device includes a mounting base (111), a first driving component (112), a linkage rod (113), and two clamping rods (114). The two clamping rods (114) are an active clamping rod (114a) and a passive clamping rod (114b). The mounting base (111) is horizontally arranged in the left-right direction. The two clamping rods (114) are arranged in the front-back direction and spaced apart above the mounting base (111) in the left-right direction. The rear end of the passive clamping rod (114b) and the middle part corresponding to the length direction of the active clamping rod (114a) are horizontally rotatably connected to the mounting base (111). One end of the linkage rod (113) is connected to the passive clamping rod (114a). 4b) The middle part of the linkage rod (113) is horizontally rotatably connected in the length direction. The other end of the linkage rod (113) is horizontally rotatably connected to the rear end of the active clamping rod (114a). The front ends of the two clamping rods (114) are each equipped with a clamp (1141). The first driving member (112) is driven to the rear end of the active clamping rod (114a). The first driving member (112) is used to drive the active clamping rod (114a) to rotate, and through the linkage rod (113), it drives the passive clamping rod (114b) to rotate in the opposite direction relative to the active clamping rod (114a), so that the two clamps (1141) move closer to each other or further away from each other.

2. The clamping mechanism according to claim 1, characterized in that, The first driving member (112) is a telescopic driving member; the first driving member (112) is horizontally set and rotatably mounted on the mounting base (111), and the driving end of the first driving member (112) is rotatably connected to the rear end of the active clamping rod (114a).

3. The clamping mechanism according to claim 1, characterized in that, The distance between the rotatable connection point of each clamping rod (114) and the mounting base (111) and the corresponding clamp (1141) is consistent; the distance between the rotatable connection point of each clamping rod (114) and the mounting base (111) and the rotatable connection point of the linkage rod (113) is consistent.

4. The clamping mechanism according to claim 1, characterized in that, The two clamps (1141) have clamping grooves on their sides that are close to each other and vertically connected.

5. A clamping and lifting assembly, characterized in that, The device includes a base plate (12), a lifting member (13), a support frame (14), and a clamping mechanism (11) as described in any one of claims 1-4. The base plate (12) is horizontally arranged, the lifting member (13) is vertically arranged in the middle of the upper front end of the base plate (12), the support frame (14) is vertically arranged in the middle of the base plate (12), and the mounting seat (111) is mounted on the upper end of the support frame (14). The lifting member (13) has a lifting portion located below the clamping mechanism (11), and the lifting member (13) is used to drive the lifting portion to move vertically below the clamping mechanism (11).

6. The clamping and lifting assembly according to claim 5, characterized in that, The lifting member (13) includes a fixed seat (131), a slide (132), a lifting plate (133), and a second driving member (134). The fixed seat (131) is vertically disposed in the middle of the front side of the base plate (12). The slide (132) is vertically disposed in front of the fixed seat (131) and slidably connected to the fixed seat (131). The lifting plate (133) is horizontally disposed in the front-back direction, and the rear end of the lifting plate (133) is connected to the lower end of the slide (132). The second driving member (134) is disposed on the base plate (12), and its driving end is connected to the slide (132) in a transmission manner. The second driving member (134) is used to drive the slide (132) to move the lifting plate (133) up and down. The lifting plate (133) constitutes the lifting part of the lifting member (13).

7. The clamping and lifting assembly according to claim 6, characterized in that, The second driving element (134) is a linear driving element.

8. The clamping and lifting assembly according to claim 5, characterized in that, The support frame (14) includes two vertically arranged support rods (141) spaced apart on both sides of the lifting member (13) in the left-right direction. The mounting base (111) is used to mount the upper ends of the two support rods (141), and the lifting member (13) is located between the two support rods (141).

9. An unmanned forklift, characterized in that, The electric vehicle body (2) includes a clamping and lifting assembly (1) as described in any one of claims 5-8, wherein the middle of the front side of the electric vehicle body (2) is recessed to form a receiving groove (21), and the clamping and lifting assembly (1) is disposed at the inner rear end of the receiving groove (21).

10. The unmanned forklift according to claim 9, characterized in that, Multiple rolling elements (22) are provided on both sides of the receiving groove (21) at intervals along the front-back direction.

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