CN115214446B - Variable clamping device based on intelligent automatic guide dolly - Google Patents
Variable clamping device based on intelligent automatic guide dolly Download PDFInfo
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- CN115214446B CN115214446B CN202211110684.1A CN202211110684A CN115214446B CN 115214446 B CN115214446 B CN 115214446B CN 202211110684 A CN202211110684 A CN 202211110684A CN 115214446 B CN115214446 B CN 115214446B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/54—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using cranes for self-loading or self-unloading
- B60P1/5438—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using cranes for self-loading or self-unloading with a moveable base
- B60P1/5457—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using cranes for self-loading or self-unloading with a moveable base attached to the loading platform or similar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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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
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/02—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms suspended from ropes, cables, or chains or screws and movable along pillars
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Structural Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention relates to the field of intelligent warehousing, in particular to a variable clamping device based on an intelligent automatic guide trolley, which comprises a base, mecanum wheels and a clamping device, wherein the base is provided with a clamping groove; the lifting device is arranged on the upper part of the base; the first linear drivers are fixedly arranged at the lower part of the lifting device, and the output ends of the first linear drivers are vertically downward; the placing table is fixedly arranged on the output end of the first linear driver, and the lifting device drives the first linear driver and the placing table to move along the height direction of the base; the extending device is arranged at the upper part of the placing table; the gripping device is arranged at the upper part of the extending device and is used for clamping the goods; the conveying device is arranged on the grabbing device and used for driving the goods to move to the extending device after the goods are clamped by the grabbing device. Realized when snatching the goods, both can adapt to the goods of different shapes, can also carry out the technical requirement that stable snatchs to the goods that is located the eminence simultaneously.
Description
Technical Field
The invention relates to the field of intelligent warehousing, in particular to a variable clamping device based on an intelligent automatic guide trolley.
Background
AGVs are english acronyms of automated guided vehicles, and refer to unmanned automated vehicles having automated guidance equipment such as magnetic strips, rails, or lasers, traveling along a planned route, powered by batteries, and equipped with safety protection and various auxiliary mechanisms (e.g., transfer and assembly mechanisms). Usually, a plurality of AGVs, a control computer (control console), a navigation device, a charging device and peripheral auxiliary devices form an AGV system, and the main working principle of the AGV system is that the AGVs can accurately walk according to a specified path under the monitoring and task scheduling of the control computer, and complete a series of operation tasks after reaching a task designated position, and the control computer can determine whether to charge a charging area automatically according to the electric quantity of the AGVs. The existing automatic guide trolley can transport simple goods, can not actively change the suitable position for transporting goods, and can not grab the goods with different shapes.
Chinese patent application CN110282361A discloses an automatic variable clamping device of guide dolly, including frame and the actuating mechanism of setting on the frame, bearing panel a is installed to the frame, be provided with the fixing base on bearing panel a's the both sides frame, the top of fixing base is provided with bearing panel B, two be provided with vertical track groove on the opposite face of fixing base, the interior top in track groove is provided with the steering wheel, install the gomphosis axle on the output shaft of steering wheel, just bearing panel a's both ends are provided with joint pivot and drive shaft respectively, just joint pivot and gomphosis axle are connected together, be provided with hydraulic piston rod, two in the track groove hydraulic piston rod's top suit respectively in joint pivot, through the deformation of its angle clamp device, accomplish the clamping of goods and the traction of other goods, can form the short-distance drive belt through bearing panel a simultaneously, the work of conveyer belt can be accomplished in the combination of a plurality of automatic guide dolly to very big improvement the transfer efficiency of intelligent storage.
The above patents and prior art also suffer from the following drawbacks:
the goods that can't snatch the eminence when snatching the goods among the prior art, some snatch the grabbing device of eminence goods snatch the mode that the goods held up through the tray, but do not have the goods in space to some bottoms and can't use, some snatch the grabbing device of eminence goods and snatch the goods from the eminence through the mode that uses manipulator or mechanical centre gripping, nevertheless can't provide vertical support to the goods, the goods rocks easily, and the goods bottom does not have the bearing, lead to the goods to drop easily, make the goods damage, use the defect.
Disclosure of Invention
Aiming at the problems of the prior art, a variable clamping device based on an intelligent automatic guide trolley is provided. Utilize elevating gear to drive and place the platform and rise, make the setting place the extension fixture on the platform, grabbing device and conveyor are driven together and rise, after rising to the assigned position, extension fixture can drive grabbing device and conveyor and stretch out this moment, grabbing device can press from both sides the goods on goods shelves afterwards and live, it can to extension fixture to drive the goods through conveyor at last, so just realized when snatching the goods, both can adapt to the goods of different shapes, can also carry out the technical requirement of stable snatching to the goods that lie in the eminence simultaneously.
In order to solve the problems of the prior art, the invention adopts the technical scheme that:
a variable clamping device based on an intelligent automatic guide trolley comprises a base, mecanum wheels and a clamping device; the clamping device comprises a lifting device, a first linear driver, a placing table, a stretching device, a grabbing device and a conveying device; the lifting device is arranged on the upper part of the base; the first linear drivers are fixedly arranged at the lower part of the lifting device, and the output ends of the first linear drivers are vertically downward; the placing table is fixedly arranged on the output end of the first linear driver, and the lifting device drives the first linear driver and the placing table to move along the height direction of the base; the stretching device is arranged at the upper part of the placing platform and is used for supporting goods placed on the goods shelf; the grabbing device is arranged at the upper part of the extending device and used for clamping the goods; the conveying device is arranged on the grabbing device and used for driving the goods to move to the extending device after the goods are clamped by the grabbing device.
Preferably, the extension device comprises a second linear drive, a receiving table and a support assembly; the second linear driver is fixedly arranged at the upper part of the placing table, and the axis of the output shaft of the second linear driver is parallel to the width direction of the base; the bearing table is fixedly arranged at the output end of the second linear driver, and the grabbing device is arranged at the upper part of the bearing table; the supporting components are respectively arranged on the bearing platform and the placing platform and used for reducing the load of the second linear driver.
Preferably, the support assembly comprises a support rod, a support table, a support groove, a slide rail and a slide plate; the supporting rod is fixedly arranged at the lower part of the bearing table along the width direction of the base; the supporting platform is fixedly arranged on the upper part of the placing platform; the supporting groove is arranged at the upper part of the supporting table along the width direction of the base, and the supporting rod is in sliding fit with the supporting groove; the slide rail is fixedly arranged on the upper part of the placing table along the width direction of the base; the sliding plate is arranged on the sliding rail in a sliding mode along the length direction of the sliding rail, and the sliding plate is fixedly connected with one end, far away from the bearing table, of the supporting rod.
Preferably, the gripping device comprises a mounting groove, a sliding table, a sliding block and a mounting seat; the two mounting grooves are symmetrically arranged at the upper part of the bearing platform, and the length direction of the mounting grooves is parallel to the length direction of the base; the sliding table is fixedly arranged in the mounting groove; the sliding block is arranged on the upper part of the sliding table in a sliding manner along the length direction of the sliding table; the mounting seat is fixedly arranged on the upper part of the sliding block and is fixedly connected with the conveying device.
Preferably, the conveying device comprises a synchronous wheel, a synchronous belt, a sliding chute, a first driving wheel and a driving device; a plurality of synchronizing wheels are arranged on the mounting seat in a uniformly rotatable manner along the length direction of the mounting seat; the side wall of the inner ring of the synchronous belt is meshed with the synchronous wheel; the number of the sliding grooves is two, and the sliding grooves are formed in the bearing table along the length direction of the base; the first driving wheel is arranged at the lower part of the synchronizing wheel close to one side of the base, and the axis of the first driving wheel is collinear with the axis of the synchronizing wheel; the driving device is arranged on the first driving wheel and used for driving the first driving wheel to rotate.
Preferably, the present application provides a first embodiment of the driving device, the driving device includes a second driving wheel, an anti-grinding wheel, a through slot, a third driving wheel, a pushing block, a first rotary driver, a driving belt and a third linear driver; the second driving wheel is rotatably arranged at the bottom of the bearing table at one side of the first driving wheel; the through groove is formed in one side, close to the base, of the bearing table; two anti-wear wheels are arranged and are respectively symmetrically and rotatably arranged on two sides of the through groove; the third driving wheel is rotatably arranged on one side of the bearing table close to the base; the pushing block is arranged below the third driving wheel; the first rotary driver is arranged below the pushing block, the output end of the first rotary driver is vertically upward, and the first rotary driver is used for driving the third driving wheel to rotate; the transmission belt is respectively meshed with the first transmission wheel, the second transmission wheel, the third transmission wheel and the anti-abrasion wheel; the third linear driver is arranged on the sliding plate, and the output end of the third linear driver is fixedly connected with the pushing block.
Preferably, the present application provides a second embodiment of a drive arrangement, the drive arrangement comprising a second rotary drive and a limit assembly;
the second rotary driver is arranged at the lower part of the first driving wheel, and the output end of the second rotary driver is fixedly connected with the first driving wheel; the limiting assembly is arranged between the second rotary driver and the first transmission wheel.
Preferably, the limiting assembly comprises a guide rail and a guide seat; the guide rail is fixedly arranged at the lower part of the receiving table along the length direction of the base, the guide groove is formed in the guide rail along the length direction of the guide rail, and an output shaft of the second rotary driver is in sliding fit with the guide groove; the guide holder is arranged on the guide rail in a slidable manner along the length direction of the guide rail, and the second rotary driver is fixedly arranged on the lower part of the guide holder.
Preferably, the lifting device comprises a traction rope, a pulley, a lifting platform, a take-up and pay-off device and a guide assembly; the lifting platform is arranged at the upper part of the first linear driver; the guide assembly is arranged on the upper part of the base along the height direction of the base and is arranged on the lifting platform in a penetrating way; the pulley is rotatably arranged at the upper part of the guide assembly; the take-up and pay-off devices are symmetrically arranged on the bases on the two sides of the lifting platform; the traction rope passes through the upper part of the fixed pulley, and the two ends of the traction rope are respectively fixedly connected with the lifting platform and the take-up and pay-off device.
Preferably, the guide assembly comprises a guide rod and a guide hole; the guide rod is fixedly arranged on the upper part of the base along the height direction of the base; the guide hole is arranged on the lifting platform along the axis of the guide rod.
Compared with the prior art, the beneficial effect of this application is:
this application is through setting up elevating gear, first linear actuator, place the platform, extension fixture, grabbing device and conveyor, it rises to utilize elevating gear to drive and place the platform, make the setting at the extension fixture who places the bench, grabbing device and conveyor are together driven and rise, after rising to the assigned position, extension fixture can drive grabbing device and conveyor and stretch out this moment, the hold-in range can be got the goods clamp on the goods shelves and live, drive the top to the elevating platform with the goods through the hold-in range on the conveyor at last, provide the vertical braces to the goods through the elevating platform, the bottom of goods has the support, the goods is more firm, be difficult for dropping, make the goods remove through the hold-in range, it removes to drive the goods after with the goods centre gripping through two hold-in ranges, can pick the goods that the bottom does not have the space, the practicality is stronger, so just realized when snatching the goods, both can adapt to the goods of different shapes, can also carry out the stable technological requirement of snatching to the goods that do not have the space to being located eminence bottom simultaneously.
Drawings
FIG. 1 is a first perspective view of the present application;
FIG. 2 is a perspective view of the second embodiment of the present invention;
FIG. 3 is a perspective view of the present application with the Mecanum wheel and a portion of the base removed;
FIG. 4 is a first perspective view of the present application with the Mecanum wheels, portions of the lift mechanism and portions of the base removed;
FIG. 5 is a second perspective view of the present application with the Mecanum wheels, portions of the lift mechanism and portions of the base removed;
FIG. 6 is a schematic view of a portion of the extension apparatus of the present application;
FIG. 7 is a second schematic view of a portion of the extension apparatus of the present application;
FIG. 8 is a first perspective view of a first embodiment of the drive arrangement of the present application;
FIG. 9 is a second perspective view of the first embodiment of the drive arrangement of the present application;
FIG. 10 is a third perspective view of the first embodiment of the drive arrangement of the present application;
FIG. 11 is a schematic view of a portion of the extension means and drive means of the present application;
FIG. 12 is a perspective view of a second embodiment of the drive of the present application;
fig. 13 is a partial perspective view of a second embodiment of the drive device of the present application.
The reference numbers in the figures are:
1-a base;
2-mecanum wheels;
3-a gripping device; 3 a-a lifting device; 3a 1-a hauling rope; 3a 2-pulley; 3a 3-a lifting platform; 3a 4-a take-up and pay-off device; 3a 5-guide rod; 3 b-a first linear driver; 3 c-placing the table; 3 d-a protruding device; 3d 1-second linear drive; 3d 2-a receiving table; 3d 3-a support bar; 3d 4-support table; 3d 5-support groove; 3d 6-sliding rail; 3d 7-sliding plate; 3 e-a gripping device; 3e 1-mounting groove; 3e 2-slipway; 3e 3-a slider; 3e 4-mounting seat; 3 f-a conveying device; 3f 1-synchronizing wheel; 3f 2-synchronous belt; 3f 3-chute; 3f 4-first drive pulley; 3 g-a drive; 3g 1-a second transmission wheel; 3g 2-grinding wheel prevention; 3g, 3-through grooves; 3g 4-a third driving wheel; 3g 5-pushing block; 3g 6-first rotary drive; 3g 7-transmission belt; 3g 8-third linear drive; 3g 9-second rotary drive; 3 h-a limiting component; 3h 1-guide rail; 3h 2-guide holder.
Detailed Description
For further understanding of the features and technical means of the present invention, as well as the specific objects and functions attained by the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description.
As shown in fig. 1-13: a variable clamping device based on an intelligent automatic guide trolley comprises a base 1, a Mecanum wheel 2 and a clamping device 3; the gripping device 3 comprises a lifting device 3a, a first linear driver 3b, a placing table 3c, a stretching device 3d, a grabbing device 3e and a conveying device 3f; the lifting device 3a is arranged at the upper part of the base 1; a plurality of first linear drivers 3b are arranged, the first linear drivers 3b are fixedly arranged at the lower part of the lifting device 3a, and the output ends of the first linear drivers 3b are vertically downward; the placing table 3c is fixedly arranged on the output end of the first linear driver 3b, and the lifting device 3a drives the first linear driver 3b and the placing table 3c to move along the height direction of the base 1; the stretching device 3d is arranged at the upper part of the placing table 3c, and the stretching device 3d is used for supporting goods placed on the goods shelf; the gripping device 3e is arranged at the upper part of the extending device 3d, and the gripping device 3e is used for clamping goods; conveying device 3f sets up on grabbing device 3e, and conveying device 3f is used for driving the goods after grabbing device 3e and moves to stretching out on the device 3d, and elevating gear 3a includes elevating platform 3a3 that can the vertical migration, grabbing device 3e includes can move the goods to hold-in range 3f2 on elevating platform 3a 3.
As shown in fig. 7: the extension device 3d comprises a second linear driver 3d1, a receiving table 3d2 and a support assembly; the second linear actuator 3d1 is fixedly arranged on the upper part of the placing table 3c, and the axis of the output shaft of the second linear actuator 3d1 is parallel to the width direction of the base 1; the bearing table 3d2 is fixedly arranged on the output end of the second linear driver 3d1, and the grabbing device 3e is arranged at the upper part of the bearing table 3d 2; support assemblies are provided on the receiving stage 3d2 and the placing stage 3c, respectively, for reducing the load of the second linear actuator 3d 1.
The second linear driver 3d1 is preferably a servo electric cylinder, when the lifting device 3a drives the placing table 3c to rise to a height corresponding to the goods, the lifting device 3a stops operating, then the second linear driver 3d1 starts, the second linear driver 3d1 drives the receiving table 3d2 arranged at the output end of the second linear driver to stretch out, when the receiving table 3d2 contacts with the goods, the second linear driver 3d1 stops operating, at the moment, the grabbing device 3e clamps the goods, then the conveying device 3f arranged on the grabbing device 3e drives the goods to slide to the upper portion of the receiving table 3d2 and finally move to the upper portion of the lifting device 3a, and the supporting components arranged on the receiving table 3d2 and the placing table 3c can ensure that the second linear driver 3d1 drives the receiving table 3d2 to stretch out and draw back, the second linear driver 3d1 cannot damage the output shaft of the second linear driver 3d1 due to the force on only one side, and the stretching out function of the stretching out device 3d is achieved.
As shown in fig. 1, 6, 8 and 11: the support component comprises a support rod 3d3, a support table 3d4, a support groove 3d5, a slide rail 3d6 and a slide plate 3d7; the supporting rod 3d3 is fixedly arranged at the lower part of the bearing table 3d2 along the width direction of the base 1; the support table 3d4 is fixedly provided above the placement table 3 c; the supporting groove 3d5 is arranged at the upper part of the supporting table 3d4 along the width direction of the base 1, and the supporting rod 3d3 is in sliding fit with the supporting groove 3d 5; the slide rail 3d6 is fixedly arranged on the upper part of the placing table 3c along the width direction of the base 1; the sliding plate 3d7 is slidably disposed on the sliding rail 3d6 along the length direction of the sliding rail 3d6, and the sliding plate 3d7 is fixedly connected with one end of the supporting rod 3d3 far away from the receiving platform 3d 2.
The sliding plate 3d7 is limited at the upper part thereof by the sliding rail 3d6, and the sliding plate 3d7 can only slide along the length direction of the sliding rail 3d 6. When the second linear actuator 3d1 drives the receiving platform 3d2 to stretch, the receiving platform 3d2 can drive the supporting rod 3d3 arranged at the lower part of the receiving platform to slide, the supporting rod 3d3 slides in the supporting groove 3d5 of the supporting platform 3d4 along the width direction of the base 1, and the sliding plate 3d7 is fixedly connected with the supporting rod 3d3, so that when the receiving platform 3d2 moves under the driving of the second linear actuator 3d1, the supporting rod 3d3 can drive the sliding plate 3d7 to move on the sliding rail 3d6, and at the moment, the weight of the receiving platform 3d2 can be shared on the supporting rod 3d3, thereby achieving the purpose of protecting the second linear actuator 3d 1.
As shown in fig. 1, 3, 6, 9 and 10: the gripping device 3e comprises a mounting groove 3e1, a sliding table 3e2, a sliding block 3e3 and a mounting seat 3e4; two installation grooves 3e1 are arranged, the installation grooves 3e1 are symmetrically arranged at the upper part of the bearing table 3d2, and the length direction of the installation grooves 3e1 is parallel to the length direction of the base 1; the sliding table 3e2 is fixedly arranged in the mounting groove 3e 1; the sliding block 3e3 is arranged on the upper part of the sliding table 3e2 in a sliding way along the length direction of the sliding table 3e 2; the mounting seat 3e4 is fixedly arranged on the upper part of the slide block 3e3, and the mounting seat 3e4 is fixedly connected with the conveying device 3 f.
Drive the back that stretches out at second linear actuator 3d1 and hold platform 3d2, after holding platform 3d2 and goods contact, the slip table 3e2 that sets up in mounting groove 3e1 will start, slider 3e3 can slide along the length direction of slip table 3e2, because mounting groove 3e1 is provided with two, again because slip table 3e2 and mounting groove 3e1 one-to-one, so slip table 3e2 also is provided with two, slider 3e3 on two slip tables 3e2 is close to each other this moment, so set up mount pad 3e4 on slider 3e3 also can be close to each other. After the conveying devices 3f on the two mounting seats 3e4 contact with the goods, the clamping of the goods is completed, and then the conveying devices 3f are started, and the conveying devices 3f drive the goods to slide to the upper parts of the extending devices 3 d. Thus, the gripping function of the gripping device 3e is realized.
The slide table 3e2 is a prior art electric slide table, and will not be described in detail herein.
As shown in fig. 1 and 7-10: the conveying device 3f comprises a synchronous wheel 3f1, a synchronous belt 3f2, a chute 3f3, a first transmission wheel 3f4 and a driving device 3g; a plurality of synchronizing wheels 3f1 are arranged, and the synchronizing wheels 3f1 are uniformly and rotatably arranged on the mounting seat 3e4 along the length direction of the mounting seat 3e4; the inner ring side wall of the synchronous belt 3f2 is meshed with the synchronous wheel 3f 1; two sliding grooves 3f3 are arranged, and the sliding grooves 3f3 are formed in the bearing table 3d2 along the length direction of the base 1; the first driving wheel 3f4 is arranged at the lower part of the synchronizing wheel 3f1 at one side close to the base 1, and the axis of the first driving wheel 3f4 is collinear with the axis of the synchronizing wheel 3f 1; a driving device 3g is provided on the first driving wheel 3f4, and the driving device 3g is used for driving the first driving wheel 3f4 to rotate.
After the sliding table 3e2 drives the installation base 3e4 to approach each other, the synchronizing wheel 3f1 finally arranged on the installation base 3e4 can be in contact with the goods, and the synchronizing wheel 3f2 is supported by the synchronizing wheel 3f1, so that the synchronizing wheel 3f2 can be in close contact with the goods, and the sliding groove 3f3 arranged on the bearing table 3d2 is used for moving at the connecting position between the first transmission wheel 3f4 and the synchronizing wheel 3f 1. After the hold-in range 3f2 was lived the goods clamp, drive arrangement 3g just can start, and drive arrangement 3g drives first drive wheel 3f4 rotatory, because first drive wheel 3f4 and synchronizing wheel 3f1 fixed connection, so synchronizing wheel 3f1 just can take place rotatoryly, and then makes the hold-in range 3f2 that sets up on synchronizing wheel 3f1 also take place rotatoryly. So that the goods can slide along the width direction of the base 1 under the driving of the synchronous belt 3f2. Thereby realized conveyor 3 f's conveying function, the length of hold-in range 3f2 is greater than the length of accepting platform 3d2, when making accepting platform 3d2 and goods contact, hold-in range 3f2 is located the both sides of goods.
As shown in fig. 1, 7, 8 and 11: the application provides a first embodiment of a driving device 3g, the driving device 3g comprises a second driving wheel 3g1, an anti-wear wheel 3g2, a through groove 3g3, a third driving wheel 3g4, a pushing block 3g5, a first rotary driver 3g6, a driving belt 3g7 and a third linear driver 3g8; the second driving wheel 3g1 is rotatably arranged at the bottom of the bearing table 3d2 at one side of the first driving wheel 3f 4; the through groove 3g3 is formed in one side, close to the base 1, of the receiving platform 3d 2; two anti-grinding wheels 3g2 are arranged, and the two anti-grinding wheels 3g2 are symmetrically and rotatably arranged on two sides of the through groove 3g3 respectively; the third driving wheel 3g4 is rotatably arranged on one side of the bearing table 3d2 close to the base 1; the pushing block 3g5 is arranged below the third driving wheel 3g 4; the first rotary driver 3g6 is arranged below the pushing block 3g5, the output end of the first rotary driver 3g6 is vertically upward, and the first rotary driver 3g6 is used for driving the third driving wheel 3g4 to rotate; the transmission belt 3g7 is respectively meshed with the first transmission wheel 3f4, the second transmission wheel 3g1, the third transmission wheel 3g4 and the anti-grinding wheel 3g 2; the third linear actuator 3g8 is arranged on the sliding plate 3d7, and the output end of the third linear actuator 3g8 is fixedly connected with the pushing block 3g 5.
The first rotary actuator 3g6 is preferably a servo motor, the third linear actuator 3g8 is preferably a servo cylinder, and when the slider 3e3 moves, the first transmission wheel 3f4 also moves along the length direction of the sliding groove 3f3, and at this time, the distance between the first transmission wheel 3f4 and the second transmission wheel 3g1 is reduced, so that the transmission belt 3g7 cannot be completely meshed with the first transmission wheel 3f4, and if the transmission belt 3g7 is not adjusted, the transmission belt 3g7 falls off. So when slider 3e3 drives mount pad 3e4 and takes place to remove, the distance between first drive wheel 3f4 and the second drive wheel 3g1 can reduce this moment, the output of third linear actuator 3g8 can retract simultaneously, make setting up the promotion piece 3g5 that pushes up on the output of third linear actuator 3g8 driven the removal, the third drive wheel 3g4 that sets up on pushing the piece 3g5 this moment can keep away from and hold platform 3d2, the distance at drive belt 3g7 both ends changes the back, can make drive belt 3g7 keep suitable rate of tension in step, the thickness of holding platform 3d2 alright approximate same with the width of drive belt 3g7 this moment, so the design can make the thickness of holding platform 3d2 can not be too big, thereby can be better hold up the goods.
As shown in fig. 7, 8 and 12: the present application provides a second embodiment of a drive arrangement 3g, the drive arrangement 3g comprising a second rotary drive 3g9 and a stop assembly 3h.
The second rotary driver 3g9 is arranged at the lower part of the first transmission wheel 3f4, and the output end of the second rotary driver 3g9 is fixedly connected with the first transmission wheel 3f 4; the spacing assembly 3h is disposed between the second rotary drive 3g9 and the first drive wheel 3f 4.
The second rotary driver 3g9 is preferably a servo motor, after the mounting seat 3e4 moves, the second rotary driver 3g9 is driven by the mounting seat 3e4 to move together, the limiting component 3h arranged on the upper portion of the second rotary driver 3g9 can guide the second rotary driver 3g9 to move along the length direction of the sliding groove 3f3, and meanwhile, the second rotary driver 3g9 can drive the first transmission wheel 3f4 to rotate when sliding along the length direction of the sliding groove 3f3, and the structure of the driving device 3g can be simplified due to the design. The failure rate of the driving device 3g is reduced.
As shown in fig. 1, 7 and 12: the limiting component 3h comprises a guide rail 3h1 and a guide seat 3h2; the guide rail 3h1 is fixedly arranged at the lower part of the bearing table 3d2 along the length direction of the base 1, a guide groove is formed in the guide rail 3h1 along the length direction of the guide rail 3h1, and an output shaft of the second rotary driver 3g9 is in sliding fit with the guide groove; the guide holder 3h2 is slidably provided on the guide rail 3h1 along the longitudinal direction of the guide rail 3h1, and the second rotary actuator 3g9 is fixedly provided at the lower portion of the guide holder 3h 2.
Because the second rotary driver 3g9 is arranged on the guide seat 3h2, and the output shaft of the second rotary driver 3g9 penetrates through the guide seat 3h2, when the first driving wheel 3f4 is driven to slide along the length direction of the sliding groove 3f3, the second rotary driver 3g9 can be driven by the first driving wheel 3f4 to move, because the second rotary driver 3g9 is arranged on the guide seat 3h2, and the guide seat 3h2 can only slide along the length direction of the guide rail 3h1, the second rotary driver 3g9 can drive the first driving wheel 3f4 to rotate while moving along with the first driving wheel 3f 4.
As shown in fig. 1 and 3: the lifting device 3a comprises a traction rope 3a1, a pulley 3a2, a lifting platform 3a3, a take-up and pay-off device 3a4 and a guide assembly; the lifting table 3a3 is arranged on the upper part of the first linear driver 3 b; the guide component is arranged on the upper part of the base 1 along the height direction of the base 1 and is arranged on the lifting platform 3a3 in a penetrating way; the pulley 3a2 is rotatably arranged at the upper part of the guide assembly; the take-up and pay-off devices 3a4 are symmetrically arranged on the base 1 at two sides of the lifting platform 3a 3; the traction rope 3a1 penetrates through the upper part of the fixed pulley 3a2, and two ends of the traction rope 3a1 are fixedly connected with the lifting platform 3a3 and the take-up and pay-off device 3a4 respectively.
When the high position of goods rises when needs, receive and release line 3a4 and start this moment, receive and release line 3a4 and can get up haulage rope 3a1 rolling, haulage rope 3a1 can drive pulley 3a2 and rotate, and along with haulage rope 3a1 is shorter and shorter, elevating platform 3a3 can be driven the lifting by haulage rope 3a1, and the guide subassembly of setting on base 1 can guide the stable going up and down of elevating platform 3a 3. Thus, the lifting function of the lifting device 3a is realized.
Receive and release line device 3a4 and be prior art, include driving motor and rolling wheel at least, through haulage rope 3a 1's one end fixed connection on the rolling wheel, rotate through driving motor and drive the rolling wheel and rotate to the rolling wheel is convoluteed or is relaxed haulage rope 3a1.
As shown in fig. 1 and 4: the guide assembly comprises a guide rod 3a5 and a guide hole; the guide rod 3a5 is fixedly arranged on the upper part of the base 1 along the height direction of the base 1; the guide hole is opened in the elevating table 3a3 so as to penetrate along the axis of the guide rod 3a 5.
When the take-up and pay-off device 3a4 drives the lifting platform 3a3 to ascend through the traction rope 3a1, the guide rod 3a5 and the guide hole slide relatively, and therefore the guide function of the guide assembly is achieved.
When the goods are required to be lifted to the height position, at this time, the take-up and pay-off device 3a4 is started, the take-up and pay-off device 3a4 can take up the traction rope 3a1, the traction rope 3a1 can drive the pulley 3a2 to rotate, the lifting platform 3a3 can be driven by the traction rope 3a1 to lift, and drive the first linear driver 3b to lift along the height direction of the base 1, so that the placing platform 3c arranged on the output end of the first linear driver 3b can lift along with the traction rope 3a1, after the placing platform 3c is lifted to the height corresponding to the goods, the lifting device 3a can stop running, then the second linear driver 3d1 can be started, the second linear driver 3d1 can drive the receiving platform 3d2 arranged on the output end of the second linear driver to extend, when the receiving platform 3d2 is contacted with the goods, the second linear driver 3d1 can stop running, the sliding platform 3e2 arranged in the installation groove 3e1 can be started, and the sliding platform 3e3 can slide along the length direction of the sliding platform 3e2, because the number of the installation grooves 3e1 is two, and because the sliding tables 3e2 correspond to the installation grooves 3e1 one by one, the number of the sliding tables 3e2 is also two, at this time, the sliding blocks 3e3 on the two sliding tables 3e2 are close to each other, the installation seats 3e4 arranged on the sliding blocks 3e3 are also close to each other, finally, the synchronous belts 3f2 arranged on the installation seats 3e4 are in contact with the goods, the length of the synchronous belts 3f2 is greater than that of the receiving table 3d2, when the receiving table 3d2 is in contact with the goods, the synchronous belts 3f2 are positioned on two sides of the goods, the driving device 3g is started, the driving device 3g drives the first transmission wheel 3f4 to rotate, because the first transmission wheel 3f4 is fixedly connected with the synchronous wheel 3f1, the synchronous wheel 3f1 rotates, further, the synchronous wheel 3f2 arranged on the synchronous wheel 3f1 also rotates, the goods can drive the synchronous belts to slide along the width direction of the base 1 under the synchronous belts 3f2, synchronous belt 3f2 makes the goods slide to the in-process on the takeover platform 3d2 completely, first linear drive ware 3b starts, first linear drive ware 3 b's output drives and places platform 3c and rise, the takeover platform 3d2 and the goods that set up on placing platform 3c rise in step, when the takeover platform 3d2 rises to the same horizontal position of elevating platform 3a3, first linear drive ware 3b and place platform 3c stop rising, synchronous belt 3f2 makes the goods continue to move to elevating platform 3a3 on, take-up and pay-off device 3a4 starts, take-up and pay-off device 3a4 can loosen haulage rope 3a1, elevating platform 3a3 and goods descend gradually along with the relaxation of haulage rope 3a1, accomplish snatching of eminence goods.
The above examples, which are intended to represent only one or more embodiments of the present invention, are described in greater detail and with greater particularity, and are not to be construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. A variable clamping device based on an intelligent automatic guide trolley comprises a base (1), a Mecanum wheel (2) and a clamping device (3);
the clamping device (3) is characterized by comprising a lifting device (3 a), a first linear driver (3 b), a placing table (3 c), a stretching device (3 d), a grabbing device (3 e) and a conveying device (3 f);
the lifting device (3 a) is arranged at the upper part of the base (1);
a plurality of first linear drivers (3 b) are arranged, the first linear drivers (3 b) are fixedly arranged at the lower part of the lifting device (3 a), and the output ends of the first linear drivers (3 b) are vertically downward;
the placing table (3 c) is fixedly arranged on the output end of the first linear driver (3 b), and the lifting device (3 a) drives the first linear driver (3 b) and the placing table (3 c) to move along the height direction of the base (1);
the stretching device (3 d) is arranged at the upper part of the placing platform (3 c), and the stretching device (3 d) is used for supporting goods placed on the goods shelf;
the gripping device (3 e) is arranged at the upper part of the extending device (3 d), and the gripping device (3 e) is used for clamping the goods;
the conveying device (3 f) is arranged on the grabbing device (3 e), and the conveying device (3 f) is used for driving the goods to move to the extending device (3 d) after the goods are clamped by the grabbing device (3 e);
the lifting device (3 a) comprises a lifting platform (3 a 3) capable of moving vertically, the grabbing device (3 e) comprises two synchronous belts (3 f 2) capable of moving the goods to the lifting platform (3 a 3), and the two synchronous belts (3 f 2) can adjust positions to clamp the goods with different sizes;
the extension device (3 d) comprises a second linear driver (3 d 1), a bearing table (3 d 2) and a support component;
the second linear driver (3 d 1) is fixedly arranged at the upper part of the placing table (3 c), and the axis of the output shaft of the second linear driver (3 d 1) is parallel to the width direction of the base (1);
the receiving platform (3 d 2) is fixedly arranged at the output end of the second linear driver (3 d 1), and the grabbing device (3 e) is arranged at the upper part of the receiving platform (3 d 2);
the supporting components are respectively arranged on the bearing platform (3 d 2) and the placing platform (3 c) and are used for reducing the load of the second linear driver (3 d 1);
the supporting component comprises a supporting rod (3 d 3), a supporting table (3 d 4), a supporting groove (3 d 5), a sliding rail (3 d 6) and a sliding plate (3 d 7);
the supporting rod (3 d 3) is fixedly arranged at the lower part of the bearing table (3 d 2) along the width direction of the base (1);
the support table (3 d 4) is fixedly arranged on the upper part of the placing table (3 c);
the supporting groove (3 d 5) is arranged at the upper part of the supporting table (3 d 4) along the width direction of the base (1), and the supporting rod (3 d 3) is in sliding fit with the supporting groove (3 d 5);
the slide rail (3 d 6) is fixedly arranged on the upper part of the placing platform (3 c) along the width direction of the base (1);
the sliding plate (3 d 7) is arranged on the sliding rail (3 d 6) in a sliding manner along the length direction of the sliding rail (3 d 6), and the sliding plate (3 d 7) is fixedly connected with one end, far away from the bearing table (3 d 2), of the supporting rod (3 d 3);
the grabbing device (3 e) comprises a mounting groove (3 e 1), a sliding table (3 e 2), a sliding block (3 e 3) and a mounting seat (3 e 4);
two mounting grooves (3 e 1) are arranged, the mounting grooves (3 e 1) are symmetrically arranged at the upper part of the bearing platform (3 d 2), and the length direction of the mounting grooves (3 e 1) is parallel to the length direction of the base (1);
the sliding table (3 e 2) is fixedly arranged in the mounting groove (3 e 1);
the sliding block (3 e 3) is arranged on the upper part of the sliding table (3 e 2) in a sliding manner along the length direction of the sliding table (3 e 2);
the mounting seat (3 e 4) is fixedly arranged at the upper part of the sliding block (3 e 3), and the mounting seat (3 e 4) is fixedly connected with the conveying device (3 f);
the conveying device (3 f) comprises a synchronous wheel (3 f 1), a chute (3 f 3), a first transmission wheel (3 f 4) and a driving device (3 g);
a plurality of synchronizing wheels (3 f 1) are arranged, and the synchronizing wheels (3 f 1) are uniformly and rotatably arranged on the mounting seat (3 e 4) along the length direction of the mounting seat (3 e 4);
the inner ring side wall of the synchronous belt (3 f 2) is meshed with the synchronous wheel (3 f 1);
two sliding grooves (3 f 3) are arranged, and the sliding grooves (3 f 3) are arranged on the bearing table (3 d 2) along the length direction of the base (1);
the first transmission wheel (3 f 4) is arranged at the lower part of the synchronizing wheel (3 f 1) close to one side of the base (1), and the axis of the first transmission wheel (3 f 4) is collinear with the axis of the synchronizing wheel (3 f 1);
the driving device (3 g) is arranged on the first transmission wheel (3 f 4), and the driving device (3 g) is used for driving the first transmission wheel (3 f 4) to rotate.
2. The variable clamping device based on the intelligent automatic guide trolley is characterized in that the driving device (3 g) comprises a second driving wheel (3 g 1), an anti-abrasion wheel (3 g 2), a through groove (3 g 3), a third driving wheel (3 g 4), a pushing block (3 g 5), a first rotary driver (3 g 6), a driving belt (3 g 7) and a third linear driver (3 g 8);
the second transmission wheel (3 g 1) is rotatably arranged at the bottom of the bearing table (3 d 2) at one side of the first transmission wheel (3 f 4);
the through groove (3 g 3) is formed in one side, close to the base (1), of the bearing table (3 d 2);
two anti-grinding wheels (3 g 2) are arranged, and the two anti-grinding wheels (3 g 2) are symmetrically and rotatably arranged on two sides of the through groove (3 g 3) respectively;
the third driving wheel (3 g 4) is rotatably arranged on one side of the bearing platform (3 d 2) close to the base (1);
the pushing block (3 g 5) is arranged below the third driving wheel (3 g 4);
the first rotary driver (3 g 6) is arranged below the pushing block (3 g 5), the output end of the first rotary driver (3 g 6) is vertically upward, and the first rotary driver (3 g 6) is used for driving the third driving wheel (3 g 4) to rotate;
the transmission belt (3 g 7) is respectively meshed with the first transmission wheel (3 f 4), the second transmission wheel (3 g 1), the third transmission wheel (3 g 4) and the anti-abrasion wheel (3 g 2);
the third linear driver (3 g 8) is arranged on the sliding plate (3 d 7), and the output end of the third linear driver (3 g 8) is fixedly connected with the pushing block (3 g 5).
3. The variable clamping device based on the intelligent automatic guide trolley is characterized in that the driving device (3 g) comprises a second rotary driver (3 g 9) and a limiting component (3 h);
the second rotary driver (3 g 9) is arranged at the lower part of the first transmission wheel (3 f 4), and the output end of the second rotary driver (3 g 9) is fixedly connected with the first transmission wheel (3 f 4);
the limiting component (3 h) is arranged between the second rotary driver (3 g 9) and the first transmission wheel (3 f 4).
4. The variable clamping device based on the intelligent automatic guide trolley as claimed in claim 3, wherein the limiting component (3 h) comprises a guide rail (3 h 1) and a guide seat (3 h 2);
the guide rail (3 h 1) is fixedly arranged at the lower part of the bearing table (3 d 2) along the length direction of the base (1), a guide groove is formed in the guide rail (3 h 1) along the length direction of the guide rail (3 h 1), and an output shaft of the second rotary driver (3 g 9) is in sliding fit with the guide groove;
the guide seat (3 h 2) is arranged on the guide rail (3 h 1) in a slidable manner along the length direction of the guide rail (3 h 1), and the second rotary driver (3 g 9) is fixedly arranged at the lower part of the guide seat (3 h 2).
5. The variable clamping device based on the intelligent automatic guide trolley is characterized in that the lifting device (3 a) further comprises a traction rope (3 a 1), a pulley (3 a 2), a take-up and pay-off device (3 a 4) and a guide assembly;
the lifting platform (3 a 3) is arranged at the upper part of the first linear driver (3 b);
the guide assembly is arranged at the upper part of the base (1) along the height direction of the base (1) and is arranged on the lifting platform (3 a 3) in a penetrating way;
the pulley (3 a 2) is rotatably arranged at the upper part of the guide assembly;
the take-up and pay-off devices (3 a 4) are symmetrically arranged on the bases (1) at two sides of the lifting platform (3 a 3);
the traction rope (3 a 1) penetrates through the upper part of the fixed pulley (3 a 2), and two ends of the traction rope (3 a 1) are respectively fixedly connected with the lifting platform (3 a 3) and the take-up and pay-off device (3 a 4).
6. The variable clamping device based on the intelligent automatic guide trolley is characterized in that the guide assembly comprises a guide rod (3 a 5) and a guide hole;
the guide rod (3 a 5) is fixedly arranged on the upper part of the base (1) along the height direction of the base (1);
the guide hole is formed in the elevating table (3 a 3) so as to penetrate along the axis of the guide rod (3 a 5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211110684.1A CN115214446B (en) | 2022-09-13 | 2022-09-13 | Variable clamping device based on intelligent automatic guide dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211110684.1A CN115214446B (en) | 2022-09-13 | 2022-09-13 | Variable clamping device based on intelligent automatic guide dolly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115214446A CN115214446A (en) | 2022-10-21 |
| CN115214446B true CN115214446B (en) | 2022-11-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211110684.1A Active CN115214446B (en) | 2022-09-13 | 2022-09-13 | Variable clamping device based on intelligent automatic guide dolly |
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| Country | Link |
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| CN (1) | CN115214446B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1289604A (en) * | 1970-04-29 | 1972-09-20 | ||
| DE29510511U1 (en) * | 1995-06-29 | 1995-09-07 | Bumb Otmar Dipl Volksw | Take-along forklift |
| JP2007126258A (en) * | 2005-11-04 | 2007-05-24 | Daifuku Co Ltd | Article transfer device and article storage facility |
| CN112794055A (en) * | 2020-12-22 | 2021-05-14 | 福建诚壹实业有限公司 | Automatic low-temperature refrigeration house cargo vehicle for large-batch shipment |
| CN213567905U (en) * | 2020-10-15 | 2021-06-29 | 西南交通大学 | Storage floor truck with transmission mechanism |
| CN113501465A (en) * | 2021-09-10 | 2021-10-15 | 爱依智能家居(江苏)有限公司 | Automatic cargo unloading device |
-
2022
- 2022-09-13 CN CN202211110684.1A patent/CN115214446B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1289604A (en) * | 1970-04-29 | 1972-09-20 | ||
| DE29510511U1 (en) * | 1995-06-29 | 1995-09-07 | Bumb Otmar Dipl Volksw | Take-along forklift |
| JP2007126258A (en) * | 2005-11-04 | 2007-05-24 | Daifuku Co Ltd | Article transfer device and article storage facility |
| CN213567905U (en) * | 2020-10-15 | 2021-06-29 | 西南交通大学 | Storage floor truck with transmission mechanism |
| CN112794055A (en) * | 2020-12-22 | 2021-05-14 | 福建诚壹实业有限公司 | Automatic low-temperature refrigeration house cargo vehicle for large-batch shipment |
| CN113501465A (en) * | 2021-09-10 | 2021-10-15 | 爱依智能家居(江苏)有限公司 | Automatic cargo unloading device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115214446A (en) | 2022-10-21 |
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