CN107892254B - Automatic disengaging and hanging clamping jaw mechanism - Google Patents
Automatic disengaging and hanging clamping jaw mechanism Download PDFInfo
- Publication number
- CN107892254B CN107892254B CN201711495048.4A CN201711495048A CN107892254B CN 107892254 B CN107892254 B CN 107892254B CN 201711495048 A CN201711495048 A CN 201711495048A CN 107892254 B CN107892254 B CN 107892254B
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- Prior art keywords
- jaw
- driving
- driven
- clamping jaw
- fixed base
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
Abstract
The invention discloses an automatic hanging-off clamping jaw mechanism which comprises a fixed base and a clamping jaw structure, wherein the clamping jaw structure is arranged on the fixed base, the clamping jaw structure comprises a driving jaw, a driven jaw and a driving structure for driving one end of the driving jaw to move, the driving jaw and the driven jaw are both arranged on the fixed base through rotating shafts, and the driving jaw and the driven jaw are connected through a transmission structure. The automatic unhooking clamping jaw mechanism is reasonable in structural design, can realize automatic opening and closing of the connecting clamping jaws, further realizes automatic connecting and disconnecting functions of the traction type AGV to the skip car, and is high in operation efficiency; and have self-locking structure, stability is high, can realize that AGV pulls the function of heavy load skip, and clamping jaw mechanism switching is easily controlled, and the installation is maintained portably.
Description
Technical Field
The invention relates to the technical field of traction type AGV (automatic guided vehicle), in particular to an automatic unhooking clamping jaw mechanism.
Background
An AGV is a transport vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, and having safety protection and various transfer functions. The traction type AGV carries a skip car in a traction mode, and finally achieves the function of unmanned transportation of goods.
In a production line and a logistics loading and transporting station of a factory, a traction type AGV and a corresponding skip are often needed, and the skip and the AGV are connected together so as to realize the directional fixed-point movement of the skip. In particular, in the automobile and logistics industries, AGV carts are often required in assembly lines. In the assembly process, the AGV generally hangs a full skip car from an on-line point of an assembly line and then drives to each station, and an assembler at each station takes down the material from the skip car to directly complete the assembly work; when all the assemblies are completed, the AGV needs to be separated from the empty skip, so that the AGV needs to be effectively separated from the hanging buckle, and the connection and the separation of the AGV and the skip are realized.
The mode that present stage adopted usually is to pass through a bolt cross-under with towed AGV and skip, this bolt is in the same place the rotatable connection of trailer and AGV dolly, this kind of connected mode, need just can realize being connected or the unhook of AGV dolly and trailer by manual operation, when using, because the material is transported the back that targets in place, still need operating personnel to pull out the bolt, realize the unhook of trailer, consequently, it is very inconvenient to use, the production efficiency has been influenced, can't really realize automated production.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an automatic disengaging and hanging clamping jaw mechanism which can automatically disengage and hang a skip car and has high operation efficiency.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the automatic disengaging and hanging clamping jaw mechanism comprises a fixed base and a clamping jaw structure, wherein the clamping jaw structure is arranged on the fixed base, the clamping jaw structure comprises a driving jaw, a driven jaw and a driving structure used for driving one end of the driving jaw to move, the driving jaw and the driven jaw are arranged on the fixed base through a rotating shaft, and the driving jaw and the driven jaw are connected through a transmission structure.
Furthermore, be equipped with the upper cover plate on the unable adjustment base, the clamping jaw structure is located between unable adjustment base and the upper cover plate, is equipped with the AGV mounting hole that is used for installing on the AGV car on unable adjustment base and/or the upper cover plate.
The transmission structure comprises a driving gear arranged on a rotating shaft of the driving claw and a driven gear arranged on a rotating shaft of the driven claw, and the driving gear is meshed with the driven gear.
And the fixed base is provided with a self-locking structure for self-locking a rotating shaft of the driven claw.
The outer end parts of the driving claw and the driven claw are connected in a clamping mode through two half structures.
The driving structure is an electric push rod, the end part of a shell of the electric push rod is hinged to the fixed base, and the end part of a telescopic rod of the electric push rod is hinged to one end of the driving claw.
The AGV is provided with a controller and a sensor used for sensing the position of the skip car, and the sensor and the driving structure are connected with the controller.
And through holes for wiring are arranged on the fixed base and/or the upper cover plate.
The self-locking structure comprises a ratchet wheel and pawl structure and an electromagnet structure, the ratchet wheel and pawl structure comprises a ratchet wheel arranged on a rotating shaft of the driven claw and a pawl arranged on a boss column on the fixed base, a reset torsion spring used for resetting the pawl is arranged on the boss column, and the electromagnet structure is arranged on the fixed base corresponding to the pawl.
The electromagnet structure comprises a support and an electromagnet, the lower end of the support is fixed on the fixed base, and the electromagnet is fixed at the upper end of the support.
Compared with the prior art, the invention has the following advantages:
the automatic unhooking clamping jaw mechanism is reasonable in structural design, can realize automatic opening and closing of the connecting clamping jaws, further realizes automatic connecting and disconnecting functions of the traction type AGV to the skip car, and is high in operation efficiency; and have self-locking structure, stability is high, can realize that AGV pulls the function of heavy load skip, and clamping jaw mechanism switching is easily controlled, and the installation is maintained portably.
Drawings
The contents of the description and the references in the drawings are briefly described as follows:
fig. 1 is a schematic view of the general structure of the present invention.
Fig. 2 is a schematic view of the base and jaw configuration of the present invention.
Fig. 3 is an exploded view of the base and jaw configuration of the present invention.
FIG. 4 is a schematic view of a base structure according to the present invention.
In the figure:
1. a fixed base, 2, a clamping jaw structure, 3, an upper cover plate, 31, a waist-shaped pipe hole, 32, AGV mounting holes II, 4, a side guard plate,
11. A bottom plate, 111 a bottom plate waist-shaped hole, 112 AGV mounting holes I and 113 a support mounting hole, 12 a support upright post, 13 a boss seat, 14 a circular ring seat, 15 boss posts, 151 a limit stop lever,
21. The device comprises a driving shaft, 22, a driven shaft, 23, a transmission gear, 24, a driving claw, 25, a driven claw, 26, a ratchet pawl structure, 261, a ratchet, 262, a pawl, 263, a limit nut, 264, a reset torsion spring, 27, an electromagnet structure, 271, a support, 272, an electromagnet and 28 and an electric push rod.
Detailed Description
The following description of the embodiments of the present invention will be made in detail with reference to the accompanying drawings.
As shown in fig. 1 to 4, the automatic unhooking clamping jaw mechanism for a large-load traction AGV comprises a fixed base 1, a clamping jaw structure 2, an upper cover plate 3 and a side guard plate 4; wherein the clamping jaw structure 2 is located between the fixed base 1 and the upper cover plate 3.
Clamping jaw structure 2 is established on unable adjustment base 1, and clamping jaw structure 2 includes drive claw and driven claw and is used for driving the drive structure of drive claw one end motion, and drive claw and driven claw are all established on unable adjustment base through the pivot, link to each other through transmission structure between drive claw and the driven claw.
Fixing base is located the below of clamping jaw structure, and fixing base includes bottom plate 11, support post 12, boss seat 13, ring seat 14 and boss post 15, and 11 middle parts of bottom plate are equipped with bottom plate waist type hole 111 for walking of circuit is equipped with two AGV mounting holes I112 in its middle part both ends symmetry, and the AGV mounting hole is used for linking firmly this mechanism at towed AGV's afterbody.
One side of the front end of the bottom plate is provided with an electromagnet mounting hole for mounting an electromagnet structure; the number of the support upright posts 12 is two, the two support upright posts are diagonally arranged at two ends of the bottom plate 11 and are fixedly connected with the bottom plate 11 through welding; the boss base 13 is positioned on one side of the rear end of the bottom plate 11 and is fixedly connected with the bottom plate 11 through welding; the two circular ring seats 14 are symmetrically arranged at the front end of the bottom plate 11 and fixedly connected with the bottom plate 11 through welding; the boss column 15 is located behind the circular ring seat 14 and is fixedly connected with the bottom plate 11 through welding, and a limit stop rod 151 is arranged in the boss column 15 and used for supporting the lower end of the reset torsion spring.
The clamping jaw structure is positioned between the fixed base 1 and the upper cover plate 3, the front end of the clamping jaw structure is hinged with a circular ring seat 14 of the fixed base 1 through a bearing, and the rear end of the clamping jaw structure is hinged with a boss seat 13 of the fixed base 1 through a plug screw; the upper cover plate 3 is fixedly connected with a support upright post 12 of the fixed base 1 through a screw; the side guard plate 4 is located the front end of unable adjustment base 1 and upper cover plate 3, links firmly with unable adjustment base 1, upper cover plate 3 mutually respectively through the screw, and side guard plate 4 is used for protecting inside clamping jaw structure.
The clamping jaw structure comprises a driving shaft 21, a driven shaft 22, a transmission gear 23, a driving claw 24, a driven claw 25, a ratchet wheel and pawl structure 26, an electromagnet structure 27 and a driving structure for driving one end of the driving claw to move; wherein the driving structure is an electric push rod and a hydraulic cylinder, preferably the electric push rod.
The driving shaft 21 and the driven shaft 22 are symmetrically arranged at the front end of the fixed base 1, the lower ends of the driving shaft 21 and the driven shaft 22 are respectively hinged with the circular ring seat 14 of the fixed base 1 through bearings, the upper ends of the driving shaft 21 and the driven shaft 22 are respectively hinged with the upper cover plate 3 through bearings, two transmission gears 23 are connected through meshing, the transmission gears 23 are respectively fixedly connected with the driving shaft 21 and the driven shaft 22 through flat keys, and the driving claw 24 and the driven claw 25 are symmetrically arranged above the transmission gears 23 and are respectively fixedly connected with the driving shaft 21 and the transmission shaft 22 through the flat keys.
The fixed base 1 is provided with a self-locking structure for self-locking a rotating shaft of the driven claw. The self-locking structure comprises a ratchet wheel and pawl structure and an electromagnet structure.
The ratchet pawl structure 26 is positioned above the driven claw 25, the front end of the ratchet pawl structure is fixedly connected with the driven shaft 22 through a flat key, and the rear end of the ratchet pawl structure is connected with the boss column 15 through a hinge; the electromagnet structure 27 is located on the left side of the ratchet pawl structure 26 and is fixedly connected with the fixed base 1 through a screw, and the electromagnet structure 27 plays a role in absorbing and releasing a pawl.
The electric push rod 28 is located behind the ratchet pawl structure 26, the front end of the electric push rod is hinged with the tail end of the driving claw 24 through a pin shaft, the rear end of the electric push rod is hinged with the boss base 13 of the fixed base 1 through a stop screw, and the electric push rod 28 is a power element and has a self-locking function.
The ratchet pawl structure 26 comprises a ratchet 261, a pawl 262, a limit nut 263 and a reset torsion spring 264, wherein the front end of the pawl 262 is meshed with the ratchet 261, the rear end of the pawl 262 is connected with a boss column 15 of the fixed base 1 through a hinge, the limit nut 263 is positioned above the pawl 262 and is fixedly connected with the boss column 15 through a thread pair, the limit nut 263 is used for limiting the axial position of the pawl 262, the reset torsion spring 264 is positioned between the pawl 262 and the boss column 15, the upper extending end of the reset torsion spring abuts against the pawl 262, the lower extending end of the reset torsion spring abuts against a limit stop rod 151 of the boss column 15, and the reset torsion spring 264 plays a reset role of the pawl 262; the electromagnet structure 27 comprises an L-shaped bracket 271 and an electromagnet 272, wherein the lower end of the L-shaped bracket 271 is fixed in a matching manner with the bracket mounting hole 113 on the fixed base 1 through a screw, and the upper end of the L-shaped bracket 271 is fixedly connected with the electromagnet 272 through a screw.
The middle part of the upper cover plate 3 is provided with a waist-shaped pipe line hole 31 for line routing, and two sides of the middle part are symmetrically provided with two AGV mounting holes II 32 for fixedly connecting the mechanism of the invention at the tail part of the traction type AGV.
The outer ends of the driving claw 24 and the driven claw 25 are connected in a clamping mode through two half structures, and the butt joint is reliable after the driving claw and the driven claw are closed. The AGV is provided with a controller and a sensor used for sensing the position of the skip car, and the sensor, the driving structure and the electromagnet are connected with the controller. The automatic opening and closing of the connecting clamping jaws can be realized, so that the automatic connection and separation functions of the traction type AGV to the skip car are realized, and the operation efficiency is high.
When the large-load traction AGV is used, the large-load traction AGV is fixedly connected to the tail of the traction AGV through the automatic unhooking clamping jaw mechanism, the traction AGV backs to approach a skip, after a clamping jaw structure 2 of the AGV grabs a skip traction rod, an electric push rod 28 receives a signal to start extending, a driving jaw 24 and a driving shaft 21 are driven to move, a driven shaft 22 is driven to move through gear transmission, a driven jaw 25 and a ratchet 261 are further driven to move, the closing of the clamping jaw device 2 is realized, and the functions of hooking and large-load dragging of the skip are realized due to the self-locking performance of a ratchet pawl structure 26 and the electric push rod 28; when the AGV pulls the skip to reach the destination, the electromagnet structure 27 receives the signal, the pawl 262 is sucked, the electric push rod 28 contracts, the clamping jaw device 2 is opened, and the unhooking function of the skip is realized.
The clamping jaw mechanism realizes the automatic connection and disconnection functions of the traction type AGV to the skip car; the self-locking function of the clamping jaw in a closed state is realized through the ratchet wheel pawl structure, and the self-locking capacity of the electric push rod is strong, so that the stability of the clamping jaw in the closed state is high, and the function that the AGV pulls a large-load skip car is realized; the switching between the self-locking state and the non-self-locking state of the clamping jaw is realized through the electromagnet structure, so that the clamping jaw is easy to control. In addition, the automatic unloading and hanging device is simple in structure and convenient to install and maintain, and overcomes the technical defects of the conventional automatic unloading and hanging device for the traction type AGV.
The above-mentioned features are merely for describing preferred embodiments of the present invention and may be arbitrarily combined to form a plurality of embodiments of the present invention.
The invention is described above with reference to the accompanying drawings, it is obvious that the specific implementation of the invention is not limited by the above-mentioned manner, and it is within the scope of the invention to adopt various insubstantial modifications of the inventive concept and solution, or to apply the inventive concept and solution directly to other applications without modification.
Claims (6)
1. The utility model provides an automatic take off and hang clamping jaw mechanism, includes unable adjustment base and clamping jaw structure, the clamping jaw structure is established on unable adjustment base, its characterized in that: the clamping jaw structure comprises a driving jaw, a driven jaw and a driving structure for driving one end of the driving jaw to move, the driving jaw and the driven jaw are both arranged on the fixed base through a rotating shaft, and the driving jaw and the driven jaw are connected through a transmission structure;
the driving structure is an electric push rod, the end part of a shell of the electric push rod is hinged to the fixed base, and the end part of a telescopic rod of the electric push rod is hinged to one end of the driving claw;
the fixed base is provided with a self-locking structure for self-locking a rotating shaft of the driven claw; the self-locking structure comprises a ratchet wheel and pawl structure and an electromagnet structure, the ratchet wheel and pawl structure comprises a ratchet wheel arranged on a rotating shaft of the driven claw and a pawl arranged on a boss column on the fixed base, a reset torsion spring for resetting the pawl is arranged on the boss column, and the electromagnet structure is arranged on the fixed base corresponding to the pawl;
the outer end parts of the driving claw and the driven claw are connected in a clamping mode through two half structures.
2. The automatic unhooking jaw mechanism of claim 1, wherein: the automatic AGV clamping device is characterized in that an upper cover plate is arranged on the fixing base, the clamping jaw structure is located between the fixing base and the upper cover plate, and AGV mounting holes used for being mounted on an AGV are formed in the fixing base and/or the upper cover plate.
3. The automatic unhooking jaw mechanism of claim 1, wherein: the transmission structure comprises a driving gear arranged on a rotating shaft of the driving claw and a driven gear arranged on a rotating shaft of the driven claw, and the driving gear is meshed with the driven gear.
4. The automatic unhooking jaw mechanism of claim 2, wherein: the AGV is provided with a controller and a sensor used for sensing the position of the skip car, and the sensor and the driving structure are connected with the controller.
5. The automatic unhooking jaw mechanism of claim 2, wherein: and through holes for wiring are formed in the fixed base and/or the upper cover plate.
6. The automatic unhooking jaw mechanism of claim 1, wherein: the electromagnet structure comprises a support and an electromagnet, the lower end of the support is fixed on the fixed base, and the electromagnet is fixed at the upper end of the support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711495048.4A CN107892254B (en) | 2017-12-31 | 2017-12-31 | Automatic disengaging and hanging clamping jaw mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711495048.4A CN107892254B (en) | 2017-12-31 | 2017-12-31 | Automatic disengaging and hanging clamping jaw mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107892254A CN107892254A (en) | 2018-04-10 |
| CN107892254B true CN107892254B (en) | 2020-05-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711495048.4A Active CN107892254B (en) | 2017-12-31 | 2017-12-31 | Automatic disengaging and hanging clamping jaw mechanism |
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| CN (1) | CN107892254B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109189037A (en) * | 2018-11-16 | 2019-01-11 | 浙江理工大学 | Automatic logistics system and its dispatching method in a kind of dyeing and finishing workshop |
| CN109881359A (en) * | 2019-04-04 | 2019-06-14 | 山东绿城家居有限公司 | The Lan Xian mechanism taken out for cylindrical fabric |
| CN110949077B (en) * | 2019-12-24 | 2021-01-19 | 北京欣奕华科技有限公司 | Automatic unhooking mechanism of traction type AGV |
| CN112357258B (en) * | 2020-10-14 | 2023-05-09 | 南京优德环保新材料有限公司 | Automatic shampoo plastic packaging equipment |
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| CN87211180U (en) * | 1987-08-06 | 1988-02-17 | 郝杰锋 | Automatic hanger of a mine car |
| US4751983A (en) * | 1987-02-25 | 1988-06-21 | Caterpillar Industrial Inc. | Load lifting device load sensing |
| CN201737641U (en) * | 2010-06-25 | 2011-02-09 | 台州市利安机电有限公司 | Brake device for transmission system of electric hoist |
| CN103407882A (en) * | 2013-09-05 | 2013-11-27 | 北京东方新星石化工程股份有限公司 | Electric detacher and hoisting equipment |
| CN206537091U (en) * | 2017-02-20 | 2017-10-03 | 苏州元谋智能机器人系统有限公司 | A kind of hitch gear and the transportation system using hitch gear |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103586872A (en) * | 2013-11-07 | 2014-02-19 | 重庆风过旗扬科技发展有限公司 | Mechanical arm with pinion for opening clamping jaws |
| CN104891135B (en) * | 2015-05-22 | 2017-08-22 | 广运机电(苏州)有限公司 | Shuttle security system |
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2017
- 2017-12-31 CN CN201711495048.4A patent/CN107892254B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4751983A (en) * | 1987-02-25 | 1988-06-21 | Caterpillar Industrial Inc. | Load lifting device load sensing |
| CN87211180U (en) * | 1987-08-06 | 1988-02-17 | 郝杰锋 | Automatic hanger of a mine car |
| CN201737641U (en) * | 2010-06-25 | 2011-02-09 | 台州市利安机电有限公司 | Brake device for transmission system of electric hoist |
| CN103407882A (en) * | 2013-09-05 | 2013-11-27 | 北京东方新星石化工程股份有限公司 | Electric detacher and hoisting equipment |
| CN206537091U (en) * | 2017-02-20 | 2017-10-03 | 苏州元谋智能机器人系统有限公司 | A kind of hitch gear and the transportation system using hitch gear |
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| CN107892254A (en) | 2018-04-10 |
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