CN115285610A

CN115285610A - Clamping device applied to automatic guide transport vehicle

Info

Publication number: CN115285610A
Application number: CN202211187352.3A
Authority: CN
Inventors: 严寒; 刘广玉
Original assignee: Shanghai Yiyao Technology Co ltd; Efdi Shenyang Automation Technology Co ltd
Current assignee: Shanghai Yiyao Technology Co ltd; Efdi Shenyang Automation Technology Co ltd
Priority date: 2022-09-28
Filing date: 2022-09-28
Publication date: 2022-11-04
Anticipated expiration: 2042-09-28
Also published as: CN115285610B

Abstract

The invention provides a clamping device applied to an automatic guided transport vehicle, and relates to the technical field of vehicle production. The clamping device applied to the automatic guide transport vehicle comprises a base, a floating mechanism, a connecting seat and a clamping mechanism. For traditional means, need not to carry on spacingly through conventional means such as machinery spacing to the transport vechicle, avoid under the impaired prerequisite of automatic guided transport vechicle, improve the positioning accuracy of automatic guided transport vechicle, realize that the transport vechicle accurate positioning carries large-scale equipment such as side wall frame, still can be convenient for the transport vechicle to use among the high-accuracy total amalgamation switched systems.

Description

Clamping device applied to automatic guide transport vehicle

Technical Field

The invention relates to the technical field of vehicle production, in particular to a clamping device applied to an automatic guided transport vehicle.

Background

During the production of the vehicle body, the vehicle body to be produced is usually conveyed along an operation line to a corresponding processing station, and then the vehicle body parts are welded to the vehicle body to be processed at the processing station by a welding robot. Before processing, often place the automobile body part on professional equipment such as equal side wall frame, then, correspond the side wall frame and set up the storage station who is used for saving side wall frame to and the automobile body part welds the processing station on the automobile body from side wall frame, and realize the transportation of side wall frame between storage station and processing station through the automated guided transporting vehicle.

At present, in order to ensure that an automatic guided vehicle can accurately position and transport a side wall frame at a storage station and a processing station, a guide frame for moving and guiding the automatic guided vehicle and a limit frame for ensuring that the stop position of the automatic guided vehicle is accurate are respectively arranged at the storage station and the processing station so as to prevent the side wall frame from turning over on the automatic guided vehicle, however, the guide frame and the limit frame directly carry out mechanical limit on the automatic guided vehicle, which may result in damage of the automatic guided vehicle, and the automatic guided vehicle has low self repeated positioning precision and large error.

Disclosure of Invention

The invention solves the problems that: on the premise of avoiding the damage of the automatic guide transport vehicle, the positioning precision of the automatic guide transport vehicle is improved.

In order to solve the problems, the invention provides a clamping device applied to an automatic guided transport vehicle, which comprises a base, a floating mechanism, a connecting seat and a clamping mechanism, wherein the base comprises a first seat body, a first guide rail, a first sliding block, a first air claw and a first proximity switch; the floating mechanism comprises a second seat body, a second guide rail, a second sliding block, a second air claw and a second proximity switch, the second seat body is respectively connected with the first sliding block and the first air claw, and the second seat body is used for being connected with the guide frame; the second guide rail extends in a direction perpendicular to the preset direction and is arranged on the second seat body, the second sliding block and the second air claw are respectively in sliding connection with the second guide rail, the second proximity switch is arranged on the connecting seat, and the second proximity switch is in communication connection with the second air claw; the connecting seat comprises a first plate, the first plate is connected with one end, away from the second guide rail, of the second sliding block, and the first plate is used for being in sliding connection with the limiting frame; clamping mechanism includes first pivot, second pivot, first connecting rod, second connecting rod, third connecting rod, fourth connecting rod and auto-lock cylinder, be provided with first clamping unit in the first pivot, just first pivot sets up the first board is kept away from floating mechanism's one end, first clamping unit is used for pressing from both sides tight side wall frame, the second pivot with first pivot parallel arrangement, the second pivot sets up the connecting seat deviates from floating mechanism's one end, the both ends of second pivot are provided with a second clamping unit respectively, two the second clamping unit is used for pressing from both sides tight side wall frame respectively, the one end of first connecting rod with first pivot key-type connection, the other end with the one end of second connecting rod is articulated, the second connecting rod deviates from the one end of first connecting rod with the third connecting rod is articulated, the third connecting rod deviates from the one end of second connecting rod with second pivot key-type connection, the fourth connecting rod is located one side of third connecting rod, just the one end of fourth connecting rod with the second pivot, the auto-lock cylinder rotates to set up the connecting seat, the one end of second connecting rod with the auto-lock cylinder connection of second pivot.

Optionally, the clamping device who uses on the automated guided transporting vehicle still includes stop gear, stop gear is located the auto-lock cylinder with between the fourth connecting rod, stop gear includes connecting piece, first rotation piece and fixed block, the fourth connecting rod deviates from the one end of second pivot with the one end of connecting piece is connected, the connecting piece deviates from the one end of fourth connecting rod with the one end of first rotation piece is articulated, first rotation piece deviates from the one end of connecting piece with the fixed block is articulated, the auto-lock cylinder with the fixed block drive is connected, the fixed block sets up on the connecting seat, be provided with first stopper on the first rotation piece, be provided with the second stopper on the fixed block, the fixed block rotate extremely during first rotation piece, first stopper with the second stopper butt.

Optionally, the clamping device applied to the automated guided transporting vehicle further comprises a buffer, the buffer is arranged on the fixed block, and the buffer is abutted against the first rotating block.

Optionally, be provided with first through-hole and second through-hole on the first board, the auto-lock cylinder sets up the first board orientation the one end of relocation mechanism, first pivot with the second pivot all sets up the first board is kept away from the one end of relocation mechanism, the third connecting rod with first connecting rod passes through respectively first through-hole with first pivot key-type connection, the fourth connecting rod passes through the second through-hole with second pivot key-type connection, the second connecting rod is located the below of first through-hole.

Optionally, a guide plate is arranged on the second seat body, and the guide plate is used for being slidably connected with the guide frame.

Optionally, a positioning plate is arranged on the first plate, the positioning plate is located below the first plate, and the first plate is used for being connected with the clamping cylinder through the positioning plate.

Optionally, a plurality of lightening holes are further disposed on the first plate.

Optionally, the clamping device applied to the automated guided transporting vehicle further comprises a positioning pin, the positioning pin is arranged on the first plate, and the positioning pin is inserted into the side wall frame.

Optionally, the first seat body and the second seat body are respectively provided as a frame structure.

Optionally, the clamping device applied to the automated guided vehicle further comprises an electrical quick-plug structure, the electrical quick-plug structure is arranged at two ends of the first plate along the preset direction, the electrical quick-plug structure is respectively used for being connected with a limiting frame, and the electrical quick-plug structure is used for supplying power to the vehicle.

Compared with the prior art, the clamping device applied to the automatic guide transport vehicle realizes the movement of the first slide block in the preset direction through the sliding connection of the first slide block and the first guide rail on the first seat body, and then the connection of the second seat body and the first slide block ensures that the second seat body follows the first slide block, the second slide block is connected with a second guide rail on the second seat body in a sliding way, so that the first plate and the second slide block move in the direction vertical to the preset direction after the first plate is connected with the second slide block, thereby realizing the movement of the clamping mechanism in the horizontal direction after the clamping mechanism is connected with the first plate, and during the sliding process of the first sliding block, the first proximity switch can convert the sliding distance of the first sliding block into a communication signal, and the first air claw limits the movement of the first sliding block to ensure the positioning precision of the second seat body in the Y-axis direction, and similarly, during the sliding process of the second slider, the second proximity switch can convert the sliding distance of the second slider into a communication signal, and the movement of the second slider is restricted by the second air claw to ensure the positioning accuracy of the first plate in the X-axis direction, thereby ensuring the position precision of the first plate and the clamping mechanism in the horizontal direction, and realizing the clamping of the first clamping unit and the second clamping unit to the side frame by the self-locking cylinder, each connecting rod and the rotating shaft in the clamping mechanism, at the in-process that the leading truck removed along spacing of leading truck orientation, for traditional means, need not to carry on spacingly through conventional means such as machinery spacing to the transport vechicle, avoid under the impaired prerequisite of transport vechicle, improve the positioning accuracy of transport vechicle, realize that the transport vechicle accurate positioning carries large-scale equipment such as side wall frame, still can be convenient for the transport vechicle to use among the high-accuracy total amalgamation switched systems.

Drawings

FIG. 1 is a schematic view of a clamping device for use on an automated guided vehicle according to an embodiment of the present invention;

FIG. 2 is a schematic view of a clamping mechanism in an embodiment of the present invention;

FIG. 3 is a schematic structural view of another perspective of a clamping mechanism in an embodiment of the present invention;

FIG. 4 is a cross-sectional view of a clamping mechanism in an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a base in an embodiment of the invention;

FIG. 6 is a schematic structural diagram of a floating mechanism according to an embodiment of the present invention

FIG. 7 is a schematic structural diagram of a connecting socket according to an embodiment of the present invention;

FIG. 8 is a schematic view of the clamping mechanism clamping the frame according to an embodiment of the present invention;

FIG. 9 is a schematic view of the clamping mechanism in the working condition of the frame to be clamped according to the embodiment of the present invention.

Description of reference numerals:

1-a base; 11-a first seat body; 12-a first guide rail; 13-a first slider; 14-a first gas claw; 15-a first proximity switch; 2-a floating mechanism; 21-a second seat body; 22-a second guide rail; 23-a second slide; 24-a second gas claw; 25-a second proximity switch; 26-a guide plate; 3-a connecting seat; 31-a first plate; 311-a first via; 312-a second via; 313-lightening holes; 32-positioning plate; 33-a cylinder support; 4-a clamping mechanism; 41-a first shaft; 411 — first bearing seat; 412-a first clamping unit; 42-a second shaft; 421-second bearing seat; 422-a second clamping unit; 43-a first link; 44-a second link; 45-a third link; 46-a fourth link; 47-self-locking cylinder; 5-a limiting mechanism; 51-a connector; 52-a first rotation block; 521-a first stopper; 522-vertical section; 523-horizontal part; 53-fixed block; 531-a second stop block; 54-a buffer; 6-positioning pins; 7-electrical quick-plug structure; 8-a limiting frame; 81-a clamping cylinder; 82-a support base; 10-a transport vehicle; 20-a side frame; 30-a guide frame; 40-pulley.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description herein, references to "an embodiment," "one embodiment," "some embodiments," "exemplary" and "one embodiment" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or embodiment is included in at least one embodiment or embodiment of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or implementation. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or implementations.

The terms "first", "second", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature.

In the drawings, the Z-axis represents the vertical, i.e., up-down, position, and the positive direction of the Z-axis (i.e., the arrow direction of the Z-axis) represents up, and the negative direction of the Z-axis (i.e., the direction opposite to the positive direction of the Z-axis) represents down; in the drawings, the X-axis represents a horizontal direction and is designated as a left-right position, and a positive direction of the X-axis (i.e., an arrow direction of the X-axis) represents a right side and a negative direction of the X-axis (i.e., a direction opposite to the positive direction of the X-axis) represents a left side; in the drawings, the Y-axis indicates the front-rear position, and the positive direction of the Y-axis (i.e., the arrow direction of the Y-axis) indicates the rear side, and the negative direction of the Y-axis (i.e., the direction opposite to the positive direction of the Y-axis) indicates the front side; it should also be noted that the foregoing Z-axis, Y-axis, and X-axis representations are merely intended to facilitate the description of the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention.

Referring to fig. 1 to 9, an embodiment of the present invention provides a clamping device applied to an automatic guided vehicle, including a base 1, a floating mechanism 2, a connecting seat 3, and a clamping mechanism 4, where the base 1 includes a first seat body 11, a first guide rail 12, a first slider 13, a first air gripper 14, and a first proximity switch 15, the first seat body 11 is configured to be disposed on a vehicle 10, the first guide rail 12 is configured to extend in a preset direction and be disposed on one end of the first seat body 11 away from the vehicle 10, the first slider 13 is slidably connected to the first guide rail 12, the first air gripper 14 is slidably connected to the first guide rail 12, the first proximity switch 15 is disposed at two ends of the first guide rail 12, and the first proximity switch 15 is communicatively connected to the first air gripper 14; the floating mechanism 2 comprises a second seat body 21, a second guide rail 22, a second sliding block 23, a second air claw 24 and a second proximity switch 25, the second seat body 21 is respectively connected with the first sliding block 13 and the first air claw 14, and the second seat body 21 is used for being connected with a guide frame 30; the second guide rail 22 extends in a direction perpendicular to the preset direction and is arranged on the second seat body 21, the second slider 23 is connected with the second guide rail 22 in a sliding manner, the second air claw 24 is connected with the second guide rail 22 in a sliding manner, the second slider 23 and the second air claw 24 are respectively connected with the connecting seat 3, the second proximity switch 25 is arranged on the connecting seat 3, and the second proximity switch 25 is in communication connection with the second air claw 24; the connecting seat 3 comprises a first plate 31, the first plate 31 is connected with one end of the second sliding block 23 departing from the second guide rail 22, and the first plate 31 is used for being in sliding connection with the limiting frame 8; the clamping mechanism 4 comprises a first rotating shaft 41, a second rotating shaft 42, a first connecting rod 43, a second connecting rod 44, a third connecting rod 45, a fourth connecting rod 46 and a self-locking cylinder 47, a first clamping unit 412 is arranged on the first rotating shaft 41, the first rotating shaft 41 is arranged at one end, deviating from the floating mechanism 2, of the first plate 31, the first clamping unit 412 is used for clamping the side wall frame 20, the second rotating shaft 42 is arranged in parallel with the first rotating shaft 41 and is arranged at one end, deviating from the floating mechanism 2, of the connecting seat 3, two ends of the second rotating shaft 42 are respectively provided with a second clamping unit 422, the two second clamping units 422 are respectively used for clamping the side wall frame 20, one end of the first connecting rod 43 is in key connection with the first rotating shaft 41, the other end is hinged with one end of the second connecting rod 44, one end, deviating from the first connecting rod 43, of the second connecting rod 44 is hinged with the third connecting rod 45, one end, deviating from the second connecting rod 44, is in key connection with the second rotating shaft 42, the fourth connecting rod 46 is arranged at one end, and is connected with the self-locking cylinder 47, and is arranged at one end, which is connected with the self-locking cylinder 47, which is connected with the self-locking cylinder 3.

Note that the predetermined direction is a direction in which the carriage 10 moves toward the stopper frame 8 along the guide frame 30.

Specifically, before the transport vehicle 10 enters the processing station, the movement of the transport vehicle 10 is guided by the guide frame 30, and the limiting frame 8 is arranged at the processing station, so that the transport vehicle 10 can be accurately stopped at the processing station, wherein the transport vehicle 10 is an automatic guided transport vehicle. When the preset direction is Y axis, the base 1 is installed at the upper end of the transport vehicle 10 through connecting pieces such as bolts, the floating mechanism 2 is arranged at the upper end of the base 1 and can move along the Y axis direction, the upper end of the floating mechanism 2 is provided with the connecting seat 3, and the connecting seat 3 moves along the X axis direction; when the preset direction is an X axis, the floating mechanism 2 is arranged at the upper end of the base 1 and can move along the X axis direction, and the connecting seat 3 moves along the Y axis direction; taking the preset direction as the direction of the Y axis as an example (hereinafter, the preset direction is also taken as the Y axis direction as an example), the lower end of the first seat body 11 is mounted at the upper end of the transportation vehicle 10 through a fastener such as a bolt, the first guide rail 12 is provided with two, and the upper ends of the two second beams are respectively provided, taking the first guide rail 12 located in the X axis positive direction of the two first guide rails 12 as an example, the first guide rail 12 is provided with two first sliders 13 and one first air claw 14, the two first sliders 13 and the one first air claw 14 respectively slide along the length direction of the first guide rail 12 and are detachably connected with the connection seat 3 through a bolt, the two ends of the first guide rail 12 are respectively provided with a first proximity switch 15, the first proximity switch 15 is used for detecting the distance between the first slider 13 and the first proximity switch 15, when the first proximity switch 15 is triggered, the first air gripper 14 can be controlled to clamp the first guide rail 12 to limit the sliding of the first slider 13 on the first guide rail 12, for example, referring to fig. 5, when precise positioning is required, with reference to the first guide rail 12 located in the positive direction of the X axis, the left end of the first guide rail 12 is provided with a first slider 13 and a first proximity switch 15, the right end is also provided with a first slider 13 and a first proximity switch 15, the first proximity switch 15 located at the left end detects that the distance between the first proximity switch 15 and the first slider 13 located at the left end is a first distance, the first proximity switch 15 located at the right end detects that the distance between the first proximity switch 15 and the first slider 13 located at the right end is a second distance, and the first distance and the second distance are equal, at this time, it indicates that the first seat body 11 is located at the correct position in the Y axis direction, the first proximity switch 15 sends a trigger signal to the first air gripper 14, the first air gripper 14 clamps the first guide rail 12, to restrict the movement of the first slider 13. After the transportation vehicle 10 finishes the single transportation of the side frame 20, the first air claw 14 can release the limitation on the movement of the first sliding block 13 under the control systems such as the PLC, so as to facilitate the next accurate positioning adjustment. Further, a buffer may be disposed on the first guide rail 12 to prevent the first slider 13 from colliding with the first proximity switch 15. The lower end of the second seat body 21 is connected to the first slider 13, and slides on the first guide rail 12 through the first slider 13, four second guide rails 22 parallel to each other are arranged in the X-axis direction of the second seat body 21, taking one of the second guide rails 22 as an example, the second guide rail 22 is provided with a second slider 23 and a second air claw 24, the second slider 23 and the second air claw 24 respectively slide along the length direction of the second guide rail 22, and are respectively bolted to the connecting seat 3 to realize the movement of the connecting seat 3 in the X-axis direction, as shown in fig. 7, the second proximity switch 25 can detect the distance between the floating mechanism 2 and the clamping cylinder 81, the second proximity switch 25 sends a trigger signal after being triggered, the second air claw 24 clamps the second guide rail 22 under the control of the trigger signal to limit the second slider 23 from sliding on the second guide rail 22, for example, a trigger distance is set, when the clamping cylinder 81 is triggered, and after the positioning plate 32, the second slider 23 is in the X-axis direction, the accurate position between the clamping cylinder 81 and the second guide rail 21 is the distance of the second air claw 24, and the second guide rail 22 is the trigger distance of the second air claw 24. After the transportation of the first side frame 20 is completed, the second air gripper 24 can release the clamping of the second guide rail 22 under the control of a control system such as a PLC, so as to facilitate the next positioning. In order to further improve the measurement accuracy of the second proximity switch 25, the second proximity switch 25 (not shown) may also be disposed on the supporting base 82. The first plate 31 is connected to one end (upper end) of the second slider 23 away from the second guide rail 22, and is used for being slidably connected to the limiting frame 8. The first rotating shaft 41 and the second rotating shaft 42 are respectively arranged on the XY plane in parallel, two first bearing seats 411 are arranged at the shaft end of the first rotating shaft 41, the first rotating shaft 41 is installed at the upper end of the first plate 31 through the two first bearing seats 411, the lower end of the first clamping unit 412 and the upper end of the first connecting rod 43 are respectively sleeved on the first rotating shaft 41 and are respectively connected with the first rotating shaft 41 through a flat key, the second connecting rod 44 is positioned below the first rotating shaft 41 and the second rotating shaft 42, the lower end of the first connecting rod 43 is hinged with the left end of the second connecting rod 44, the right end of the second connecting rod 44 is hinged with the lower end of the third connecting rod 45, the upper end of the third connecting rod 45 is sleeved on the second rotating shaft 42 and is connected with the second rotating shaft 42 through a flat key, the upper end of the fourth connecting rod 46 is positioned behind the third connecting rod 45 and is sleeved on the second rotating shaft 42 and is connected with the second rotating shaft 42 through a flat key, the cylinder body of the self-locking cylinder 47 is rotatably connected to the lower end of the connecting seat 3 through the cylinder support 33 (the degree of freedom of the self-locking cylinder 47 is improved to avoid mechanical locking), the piston rod of the self-locking cylinder 47 is in driving connection with the lower end of the fourth connecting rod 46 through a pin shaft, two second clamping units 422 are arranged at the shaft end of the second rotating shaft 42 and are mounted at the upper end of the connecting seat 3 through two pairs of second bearing seats 421, when the side wall frame 20 needs to be clamped, the piston rod of the self-locking cylinder 47 extends out, the lower end of the fourth connecting rod 46 is driven by the piston rod to rotate anticlockwise, so that the second rotating shaft 42, the second clamping units 422 and the third connecting rod 45 synchronously rotate anticlockwise, and when the third connecting rod 45 rotates anticlockwise, the first connecting rod 43, the first rotating shaft 41 and the first clamping unit 412 synchronously rotate through the hinge connection with the second connecting rod 44, so that the first clamping unit 412 and the two second clamping units 422 respectively clamp the side wall frame 20 in the vertical direction, when the clamping of the side frame 20 needs to be released, as shown in fig. 2, the piston rod of the self-locking cylinder 47 retracts, and the first clamping unit 412 and the two second clamping units 422 synchronously rotate clockwise under the driving of the connecting rods. Wherein, the auto-lock cylinder 47 has the auto-lock function.

Further, taking the transportation vehicle 10 to transport the side frame 20 from the storage station to the processing station as an example, when the transportation vehicle 10 loads the side frame 20 on the storage station for the first time, after the second seat body 21 and the first plate 31 are manually adjusted to be at the correct positions on the XY plane, the first air gripper 14 and the second air gripper 24 respectively grip the first guide rail 12 and the second guide rail 22, so that the clamping mechanism 4 on the first plate 31 is at the correct position, and after the side frame 20 is transported to the first plate 31 by mechanical arm transportation and the like, the clamping mechanism 4 can clamp the side frame 20 by a control center such as a PLC and the like, so as to complete the first accurate positioning and clamping of the side frame 20 by the transportation vehicle 10, and then the transportation vehicle 10 moves from the storage station to the processing station along a ground guide rail system of the transportation vehicle 10, when the positioning accuracy of the transporter 10 has an error, the second seat body 21 is in contact with the pulley 40, and then the second seat body 21 moves along the Y-axis direction under the action of the curved surface of the pulley 40, for example, if the center line between the two guide frames 30 is used as a reference line, and if the center line of the floating mechanism 2 in the X-axis direction deviates 2 mm in the negative direction of the Y-axis relative to the reference line, after the second seat body 21 is in contact with the two guide frames 30, the center line of the second seat body 21 in the X-axis direction moves 1.5 mm in the positive direction of the Y-axis to improve the accuracy in the Y-axis direction. When the first proximity switch 15 is triggered, the first air gripper 14 clamps the first guide rail 12, so that the accurate positioning of the second seat body 21 in the Y-axis direction is realized, then the second air gripper 24 is opened, and when the second proximity switch 25 is triggered, the clamping cylinder 81 clamps the first plate 31, and the second air gripper 24 clamps the second guide rail 22, so that the first plate 31 is at an accurate position in the X-axis direction, so as to avoid the influence of the error of the positioning stop position of the transport vehicle 10 on the first plate 31 in the X-axis direction, so that the position of the clamping mechanism 4 on the XY plane is relatively accurate, so that the self-locking cylinder 47 drives one first clamping unit 412 and two second clamping units 422 to release the clamping of the side frame 20, so that the side frame 20 is transported to the processing station by the mechanical arm.

In this embodiment, the first slider 13 is slidably connected to the first guide rail 12 on the first seat body 11 to realize the movement of the first slider 13 in the predetermined direction, and then the second seat body 21 is connected to the first slider 13 to make the second seat body 21 follow the first slider 13, and the second slider 23 is slidably connected to the second guide rail 22 on the second seat body 21 to realize the movement of the first plate 31 and the second slider 23 in the direction perpendicular to the predetermined direction after the first plate 31 is connected to the second slider 23, so that the movement of the clamping mechanism 4 in the horizontal direction is realized after the clamping mechanism 4 is connected to the first plate 31, and during the sliding process of the first slider 13, the first proximity switch 15 can convert the sliding distance of the first slider 13 into a communication signal, and the movement of the first slider 13 is limited by the first air claw 14 to ensure the positioning accuracy of the second seat body 21 in the Y-axis direction, similarly, in the sliding process of the second slider 23, the second proximity switch 25 can convert the sliding distance of the second slider 23 into a communication signal, and limit the movement of the second slider 23 through the second pneumatic claw 24 to ensure the positioning accuracy of the first plate 31 in the X-axis direction, thereby ensuring the position accuracy of the first plate 31 and the clamping mechanism 4 in the horizontal direction, and then the self-locking cylinder 47, each connecting rod and the rotating shaft in the clamping mechanism 4 realize the clamping of the first clamping unit 412 and the second clamping unit 422 on the side wall frame 20, so that, in the process that the transport vehicle 10 moves along the guide frame 30 toward the limiting frame 8, compared with the conventional means, the transport vehicle 10 does not need to be limited through the conventional means such as mechanical limiting, and on the premise that the transport vehicle 10 is prevented from being damaged, the positioning accuracy of the transport vehicle 10 is improved, and the transport vehicle 10 can accurately position and carry large-scale equipment such as the side wall frame 20, and the transporter 10 can be conveniently applied to a high-precision general splicing switching system.

Optionally, as shown in fig. 2 to 4, the clamping device applied to the automatic guided vehicle further includes a limiting mechanism 5, the limiting mechanism 5 is located between the self-locking cylinder 47 and the fourth connecting rod 46, the limiting mechanism 5 includes a connecting member 51, a first rotating block 52 and a fixing block 53, one end of the fourth connecting rod 46 departing from the second rotating shaft 42 is connected to one end of the connecting member 51, one end of the connecting member 51 departing from the fourth connecting rod 46 is hinged to one end of the first rotating block 52, one end of the first rotating block 52 departing from the connecting member 51 is hinged to the fixing block 53, the self-locking cylinder 47 is in driving connection with the fixing block 53, the fixing block 53 is disposed on the connecting seat 3, a first limiting block 521 is disposed on the first rotating block 52, a second limiting block 531 is disposed on the fixing block 53, and when the fixing block 53 rotates to the first rotating block 52, the first limiting block 521 abuts against the second limiting block 531.

Specifically, the first rotating block 52 is L-shaped in the ZX plane projection pattern, that is, the first rotating block 52 includes a vertical portion 522 and a horizontal portion 523 that are vertically connected to each other, the vertical portion 522 is vertically disposed at one end of the horizontal portion 523, a piston rod of the self-locking cylinder 47 is hinged to an upper end of the vertical portion 522, a lower end of the vertical portion 522 is hinged to a right end of the fixed block 53, a left end of the horizontal portion 523 is hinged to a right end of the connecting member 51, a left end of the connecting member 51 is hinged to a lower end of the fourth connecting rod 46, the fixed block 53 is mounted on the connecting seat 3 through a bolt, a first limiting block 521 (the first limiting block 521 may be a rod-shaped structure such as a bolt) is disposed on the horizontal portion 523, a second limiting block 531 is disposed on the fixed block 53 (the second limiting block 531 may be a rod-shaped structure such as a bolt), when the first rotating block 52 rotates to the fixed block 53, the first limiting block 521 abuts against the second limiting block 531, when a piston cylinder of the self-locking cylinder 47 extends, the piston rod pushes the upper end of the vertical portion 522 to rotate clockwise, the vertical portion 522 rotates during the rotation of the vertical portion 522 and pushes the right end of the connecting member 51 to rotate, the horizontal portion to push the left end of the connecting member 51 to rotate counterclockwise, so that the horizontal portion 46 of the horizontal portion 523 rotates to clamp mechanism 4 to clamp the horizontal portion 523, and the horizontal portion 4 to clamp the horizontal portion 523, and to clamp the horizontal portion 4 to clamp the horizontal portion 523.

So, be located between self-locking cylinder 47 and fourth connecting rod 46 through stop gear 5, stop gear 5 includes connecting piece 51, first rotation piece 52 and fixed block 53, the one end that fourth connecting rod 46 deviates from second pivot 42 is connected with the one end of connecting piece 51, the one end that connecting piece 51 deviates from fourth connecting rod 46 is articulated with the one end of first rotation piece 52, the one end that first rotation piece 52 deviates from connecting piece 51 is articulated with fixed block 53, self-locking cylinder 47 is connected with fixed block 53 drive, fixed block 53 sets up on connecting seat 3, be provided with first stopper 521 on first rotation piece 52, be provided with second stopper 531 on the fixed block 53, when first rotation piece 52 rotates to fixed block 53, first stopper 521 and second stopper 531 butt, thus, self-locking cylinder 47 not only accessible connecting piece 51, first rotation piece 52 and fixed block 53 drive fourth connecting rod 46 in order to realize that clamping mechanism 4 presss from both sides tight side wall frame 20, still can avoid the rotation of first rotation piece 52 with second stopper 531 butt when first stopper 521 and second stopper 531 butt, make clamping mechanism 4 be in the locked state, realize that the self-locking cylinder 47 improves the self-locking cylinder 47, the stability of self-locking cylinder 47 and the self-locking mechanism can still receive the stability of the impact and the stability of the self-locking mechanism's connection that the self-locking mechanism 521 still can lead to take place.

Optionally, as shown in fig. 2 and 4, the clamping device applied to the automated guided transporting vehicle further includes a buffer 54, the buffer 54 is disposed on the fixed block 53, the buffer 54 abuts against the first rotating block 52, wherein the buffer 54 may be supported by a spring.

Thus, when the first rotating block 52 rotates toward the fixed block 53, the buffer 54 weakens the rigid contact between the first stopper 521 and the second stopper 531.

Optionally, as shown in fig. 1, fig. 2, and fig. 7, a first through hole 311 and a second through hole 312 are provided on the first plate 31, the self-locking cylinder 47 is provided at an end of the first plate 31 facing the floating mechanism 2, the first rotating shaft 41 and the second rotating shaft 42 are both provided at an end of the first plate 31 facing away from the floating mechanism 2, the third connecting rod 45 and the first connecting rod 43 are respectively connected with the first rotating shaft 41 through the first through hole 311, the fourth connecting rod 46 is connected with the second rotating shaft 42 through the second through hole 312, and the second connecting rod 44 is located below the first through hole 311.

Specifically, the self-locking cylinder 47 is hinged to one end of the first plate 31 facing the floating mechanism 2 through the cylinder bracket 33, that is, the self-locking cylinder 47 is hinged to a lower end of the first plate 31, the first rotating shaft 41 and the second rotating shaft 42 are disposed at one end of the first plate 31 facing away from the floating mechanism 2, that is, the first rotating shaft 41 and the second rotating shaft 42 are respectively disposed at an upper end of the first plate 31, an upper end of the first connecting rod 43 extends from the first through hole 311 and is connected with the first rotating shaft 41 in a key manner, an upper end of the third connecting rod 45 extends from the first through hole 311 and is connected with the second rotating shaft 42 in a key manner, so that the second connecting rod 44 is located below the first through hole 311, an upper end of the fourth connecting rod 46 extends from the second through hole 312 and is connected with the second rotating shaft 42 in a key manner, the self-locking cylinder 47 drives the fourth connecting rod 46 to rotate in the second through hole 312 at a lower end of the first plate 31, wherein the above-mentioned vertical portion 522 of the first rotating block 52 can also rotate in the first through hole 311.

Therefore, the self-locking cylinder 47 is arranged at one end of the first plate 31 facing the floating mechanism 2, the first rotating shaft 41 and the second rotating shaft 42 are arranged at one end of the first plate 31 departing from the floating mechanism 2, the third connecting rod 45 and the first connecting rod 43 are respectively connected with the first rotating shaft 41 through the first through hole 311, the fourth connecting rod 46 is connected with the second rotating shaft 42 through the second through hole 312, and thus the self-locking cylinder 47 can drive the fourth connecting rod 46 to rotate from the lower part of the first plate 31 through the second through hole 312 so as to realize that the second rotating shaft 42 rotates at the upper end of the first plate 31, further the third connecting rod 45 and the first connecting rod 43 realize that the first rotating shaft 41 rotates at the upper end of the first plate 31 from the lower part of the first plate 31 through the first through hole 311, so as to avoid the occupation of a vertical space when all mechanisms in the clamping mechanism 4 are arranged at one side of the first plate 31, thereby reducing the requirements of the self-locking cylinder 47 and all the connecting rods in the clamping mechanism 4 on the installation space, the structure is compact, and convenient to install.

Optionally, as shown in fig. 6, a guide plate 26 is disposed on the second seat body 21, and the guide plate 26 is configured to be slidably connected to the guide frame 30.

Specifically, two guide plates 26 are provided, one of the two guide plates 26 is mounted on one end of the second seat body 21 facing the negative direction of the Y axis through a fastener such as a bolt, the other is mounted on one end of the second seat body 21 facing the positive direction of the Y axis through a fastener such as a bolt, and the second seat body 21 is slidably connected to the guide frame 30 through the guide plates 26 provided on both ends.

Further, taking the negative Y-axis one of the two guide plates 26 as an example, two ends of the guide plate 26 in the X-axis are respectively bent toward the side away from the guide frame 30, so that the guide plate 26 moves in the Y-axis direction under the action of the pulley 40.

So, be provided with deflector 26 on through second seat body 21, relocation mechanism 2 is used for through deflector 26 with leading truck 30 sliding connection, realize that deflector 26 provides the space with leading truck 30 sliding connection, thereby reduce second seat body 21 size or structure in the Y axle side to sliding connection's between second seat body 21 and the leading truck 30 influence, only need on second seat body 21 install deflector 26 can, thereby be convenient for realize second seat body 21 and leading truck 30 sliding connection, in order to improve second seat body 21's use flexibility.

Alternatively, as shown in fig. 7, a positioning plate 32 is disposed on the first plate 31, the positioning plate 32 is located below the first plate 31, and the first plate 31 is connected to the clamping cylinder 81 through the positioning plate 32.

Specifically, two positioning plates 32 are arranged in one-to-one correspondence with the clamping cylinders 81, each positioning plate 32 is of a plate-shaped structure and is welded to one end, facing the X-axis forward direction, of the first plate 31 along the height direction of the first plate 31, namely, the left end of the first plate 31, and considering that the upper end of the first plate 31 needs to bear the side frame 20, therefore, in order to avoid interference between the positioning plates 32 and the side frame 20, the positioning plates 32 are arranged below the first plate 31, and when the transport vehicle 10 stops at one end, facing the X-axis forward direction, of the supporting seat 82, the clamping cylinders 81 are connected with the positioning plates 32 in the XY plane to limit movement of the positioning plates 32 on the XY plane.

So, locating plate 32 is located the below of first board 31, avoid locating plate 32 and side wall frame 20 to take place to interfere, first board 31 is used for being connected with die clamping cylinder 81 through locating plate 32, like this, realize that locating plate 32 provides the space of being connected with die clamping cylinder 81, thereby reduce the influence that size or structure of first board 31 on the X axle direction are connected between die clamping cylinder 81 and the first board 31, only need on first board 31 install locating plate 32 can, thereby be convenient for realize that die clamping cylinder 81 restricts the removal of locating plate 32 on the XY plane.

Optionally, as shown in fig. 7, a plurality of lightening holes 313 are further disposed on the first plate 31.

Specifically, the lightening holes 313 may be provided in various shapes on the premise of satisfying the structural strength of the first plate 31, as shown in fig. 7. The first seat body 11 and the second seat body 21 can be arranged in this way, and are not described herein.

In this way, the plurality of lightening holes 313 are formed in the first plate 31, so that the connecting seat 3 is designed to be light, the dead weight is reduced, and the energy loss of the transport vehicle 10 is reduced.

Optionally, as shown in fig. 1 and fig. 9, the clamping device applied to the automated guided vehicle further includes a positioning pin 6, the positioning pin 6 is disposed on the first plate 31, and the positioning pin 6 is inserted into the side frame 20.

Specifically, the positioning pins 6 are provided in plural numbers and inserted into the positioning holes at the lower end of the side frame 20 from below the side frame 20.

Therefore, the positioning pins 6 are arranged on the first plate 31 and used for being connected with the side wall frame 20 from the lower part of the side wall frame 20, so that after the clamping mechanism 4 clamps the side wall frame 20, the positioning pins 6 can support the side wall frame 20 from the lower part of the side wall frame 20, and the auxiliary clamping mechanism 4 can improve the stability of the side wall frame 20 in the transportation process.

Alternatively, as shown in fig. 5 and 6 in conjunction, the first seat body 11 and the second seat body 21 are respectively provided as a frame structure.

Like this, set up to frame construction respectively through first seat body 11 and second seat body 21, like this, not only can realize first seat body 11 good second seat body 21 lightweight design, still can be convenient for to first seat body 11 and second seat body 21 manufacturing.

Optionally, as shown in fig. 7, the clamping device applied to the automated guided vehicle further includes electrical quick-plug structures 7, the electrical quick-plug structures 7 are disposed at two ends of the first plate 31 along a preset direction, the two electrical quick-plug structures 7 are respectively used for being connected to the limiting frame 8, and the two electrical quick-plug structures 7 are both used for supplying power to the vehicle 10.

Specifically, electric quick-plug structure 7 sets up both ends about first board 31, all is provided with corresponding electric quick-plug structure 7 on the spacing 8 of storage station department and the spacing 8 of processing station department for transport vechicle 10 all can charge transport vechicle 10 when storage station or processing station stop, so, realizes transport vechicle 10's continuous operation, thereby it is long when being convenient for prolong transport vechicle 10's transportation.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.

Claims

1. The clamping device applied to the automatic guiding transport vehicle is characterized by comprising a base (1), a floating mechanism (2), a connecting seat (3) and a clamping mechanism (4), wherein the base (1) comprises a first seat body (11), a first guide rail (12), a first sliding block (13), a first air claw (14) and a first proximity switch (15), the first seat body (11) is arranged on the transport vehicle (10), the first guide rail (12) is arranged at one end, deviating from the transport vehicle (10), of the first seat body (11) in an extending mode along a preset direction, the first sliding block (13) is in sliding connection with the first guide rail (12), the first air claw (14) is in sliding connection with the first guide rail (12), the first proximity switch (15) is arranged at two ends of the first guide rail (12), and the two first proximity switches (15) are in communication connection with the first air claw (14); the floating mechanism (2) comprises a second seat body (21), a second guide rail (22), a second sliding block (23), a second air claw (24) and a second proximity switch (25), the second seat body (21) is respectively connected with the first sliding block (13) and the first air claw (14), and the second seat body (21) is used for being in sliding connection with a guide frame (30); the second guide rail (22) extends in a direction perpendicular to the preset direction and is arranged on the second seat body (21), the second sliding block (23) is connected with the second guide rail (22) in a sliding mode, the second air claw (24) is connected with the second guide rail (22) in a sliding mode, the second proximity switch (25) is arranged on the connecting seat (3), and the second proximity switch (25) is in communication connection with the second air claw (24); the connecting seat (3) comprises a first plate (31), the first plate (31) is connected with one end, deviating from the second guide rail (22), of the second sliding block (23), the first plate (31) is connected with the second air claw (24), and the first plate (31) is used for being connected with the limiting frame (8); the clamping mechanism (4) comprises a first rotating shaft (41), a second rotating shaft (42), a first connecting rod (43), a second connecting rod (44), a third connecting rod (45), a fourth connecting rod (46) and a self-locking cylinder (47), a first clamping unit (412) is arranged on the first rotating shaft (41), the first rotating shaft (41) is arranged at one end, deviating from the floating mechanism (2), of the first plate (31), the first clamping unit (412) is used for clamping the side wall frame (20), the second rotating shaft (42) is arranged in parallel with the first rotating shaft (41), the second rotating shaft (42) is arranged at one end, deviating from the floating mechanism (2), of the first plate (31), the two ends of the second rotating shaft (42) are respectively provided with a second clamping unit (422), the two second clamping units (422) are respectively used for clamping the side wall frame (20), one end of the first connecting rod (43) is connected with the first rotating shaft (41), the other end of the second connecting rod (44) is connected with one end of the second connecting rod (44), the second clamping unit (422) is hinged with the second connecting rod (45), and one end of the third connecting rod (45) is connected with a key, fourth connecting rod (46) are located one side of third connecting rod (45), just the one end of fourth connecting rod (46) with second pivot (42) key-type connection, auto-lock cylinder (47) rotate the setting and are in on first board (31), auto-lock cylinder (47) with fourth connecting rod (46) deviate from the one end drive of second pivot (42) is connected.

2. The clamping device applied to the Automated Guided Vehicle (AGV) of claim 1, further comprising a limiting mechanism (5), wherein the limiting mechanism (5) is located between the self-locking cylinder (47) and the fourth connecting rod (46), the limiting mechanism (5) comprises a connecting member (51), a first rotating block (52) and a fixing block (53), one end of the fourth connecting rod (46) departing from the second rotating shaft (42) is connected with one end of the connecting member (51), one end of the connecting member (51) departing from the fourth connecting rod (46) is hinged with one end of the first rotating block (52), one end of the first rotating block (52) departing from the connecting member (51) is hinged with the fixing block (53), the self-locking cylinder (47) is in driving connection with the fixing block (53), the fixing block (53) is arranged on the connecting seat (3), a first limiting block (521) is arranged on the first rotating block (52), a second limiting block (531) is arranged on the fixing block (53), the fixing block (53) rotates to the first rotating block (52), and the second limiting block (531) abuts against the first limiting block (521).

3. The clamping device for application on an automated guided vehicle according to claim 2, further comprising a buffer (54), wherein the buffer (54) is arranged on the fixed block (53), and wherein the buffer (54) abuts against the first rotating block (52).

4. The clamping device applied to the automated guided vehicle as claimed in claim 1, wherein the first plate (31) is provided with a first through hole (311) and a second through hole (312), the self-locking cylinder (47) is disposed at an end of the first plate (31) facing the floating mechanism (2), the first rotating shaft (41) and the second rotating shaft (42) are both disposed at an end of the first plate (31) facing away from the floating mechanism (2), the third connecting rod (45) and the first connecting rod (43) are respectively connected with the first rotating shaft (41) through the first through hole (311), the fourth connecting rod (46) is connected with the second rotating shaft (42) through the second through hole (312), and the second connecting rod (44) is located below the first through hole (311).

5. Clamping device for application on automated guided vehicles according to claim 1, characterized in that a guide plate (26) is provided on the second seat body (21), said guide plate (26) being intended to be slidingly coupled with the guide frame (30).

6. Clamping device for application on an automated guided vehicle according to claim 1, characterized in that a positioning plate (32) is arranged on the first plate (31), the positioning plate (32) being located below the first plate (31), the first plate (31) being adapted to be connected to a clamping cylinder (81) via the positioning plate (32).

7. The clamping device for an automated guided vehicle according to claim 1, wherein a plurality of lightening holes (313) are further provided on the first plate (31).

8. The clamping device applied to the automated guided vehicle according to claim 1, further comprising a positioning pin (6), wherein the positioning pin (6) is arranged on the first plate (31), and the positioning pin (6) is inserted into the side frame (20).

9. Clamping device for application on automated guided vehicles according to claim 1, characterized in that the first seat body (11) and the second seat body (21) are each provided as a frame structure.

10. The clamping device applied to the automated guided vehicle as claimed in claim 1, further comprising electrical quick-plug structures (7), wherein the electrical quick-plug structures (7) are disposed at two ends of the first plate (31) along the preset direction, two electrical quick-plug structures (7) are respectively used for being connected with a limiting frame (8), and both electrical quick-plug structures (7) are used for supplying power to the vehicle (10).