CN211309880U

CN211309880U - Holder that both arms expand and AGV thereof

Info

Publication number: CN211309880U
Application number: CN201921458814.4U
Authority: CN
Inventors: 姜文琴
Original assignee: Guangzhou Niucha Robot Co ltd
Current assignee: Guangdong Yuanneng Robot Co ltd
Priority date: 2019-04-02
Filing date: 2019-09-02
Publication date: 2020-08-21
Anticipated expiration: 2029-09-02

Abstract

The utility model relates to a commodity circulation haulage equipment technical field discloses holder that both arms expand and AGV thereof, the holder includes fixing base, two rotor arms and drive arrangement, two rotor arms are rotatable and the interval is located the fixing base, and certainly the fixing base downwardly extending, drive arrangement locates the fixing base, drive arrangement includes driver part and drive mechanism, drive mechanism connect in driver part with two rotor arms are used for drive under driver part's the drive two rotor arms rotate with the centre gripping or loosen the wheel of treating haulage vehicle. The clamp holder has the advantages of small occupied space, simple structure and low design difficulty.

Description

Holder that both arms expand and AGV thereof

Technical Field

The utility model relates to a commodity circulation haulage equipment technical field especially relates to a holder that both arms expand and AGV thereof.

Background

Nowadays, automobiles become one of the main transportation tools for people to go out. Automobiles are often handled as they are manufactured, sold, and used. Therefore, transport facilities for transporting automobiles have been produced.

At present, handling equipment is mostly unmanned transport Vehicle (AGV, Automated Guided Vehicle), when the transport automobile, the centre gripping subassembly that sets up on it drives the balance staff through the output shaft of two-way hydro-cylinder usually and removes, and the balance staff further drives the rotary rod and removes, set up simultaneously and be used for spacing gag lever post, utilize the rotary rod can receive the spacing of gag lever post and take place to rotate when removing to gag lever post position, and then drive the rotation of centre gripping yoke, thereby realize the centre gripping and treat the tire of transport automobile.

However, the motion of the output shaft of the bidirectional oil cylinder, the motion of the swing shaft, the motion of the rotating shaft and the motion of the clamping fork arm are all generated in a horizontal plane, so that the occupied space is large, and the whole volume of the clamping assembly is large; in addition, during design, the specific position of the limiting rod needs to be calculated and determined so as to ensure that the rotating rod can move to a specific position to be in contact with the limiting rod, which results in that the structure of the clamping assembly of the AGV is complex and the structural design difficulty is high.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model discloses holder and AGV that both arms expand, this holder occupation space is little, and simple structure and the design degree of difficulty are low.

In a first aspect, the embodiment of the utility model discloses holder that both arms expand, including fixing base, two rotor arms and drive arrangement, two rotor arms are rotatable and the interval is located the fixing base, and certainly the fixing base downwardly extending, drive arrangement locates the fixing base, drive arrangement includes driver part and drive mechanism, drive mechanism connect in driver part with two rotor arms are used for drive under driver part's the drive two rotor arms rotate with the centre gripping or loosen the wheel of waiting haulage vehicle.

As an optional implementation manner, in the embodiment of the present invention, the two rotating arms are a first rotating arm and a second rotating arm respectively;

the first rotating arm comprises a first rotating part and a first clamping part, the first rotating part is rotatably arranged on the fixed seat and extends downwards from the fixed seat to be connected with the first clamping part, and the first clamping part is perpendicular to the first rotating part;

the second rotating arm comprises a second rotating part and a second clamping part, the second rotating part is rotatably arranged on the fixed seat and extends downwards from the fixed seat to be connected with the second clamping part, and the second clamping part is perpendicular to the second rotating part;

wherein an included angle is formed between the first clamping part and the second clamping part.

As an optional implementation manner, in an embodiment of the present invention, the first rotating arm and the second rotating arm rotate simultaneously and rotate in opposite directions under the driving of the driving part, so as to adjust the size of the included angle between the first clamping portion and the second clamping portion.

As an optional implementation manner, in the embodiment of the present invention, the transmission mechanism includes a primary transmission mechanism connected to the driving component and a secondary transmission mechanism connected to the primary transmission mechanism and the two rotating arms;

the primary transmission mechanism is used for generating linear motion under the driving of the driving part and transmitting the linear motion to the secondary transmission mechanism, so that the secondary transmission mechanism generates curvilinear motion and drives the two rotating arms to rotate.

As an optional implementation manner, in an embodiment of the present invention, the primary transmission mechanism includes a screw rod vertically disposed on the fixing base and connected to the driving component, a screw nut engaged with the screw rod, and a slider connected to the screw nut, and the slider is configured to generate the linear motion;

the second grade drive mechanism include with the slider rotate the transfer line of connecting and with the transfer line rotate connect and with the dwang that the rotor arm is connected, the dwang is used for taking place curvilinear motion drives the rotor arm rotates.

As an optional implementation manner, in an embodiment of the present invention, a plane where the linear motion occurs on the slider is a first plane, and a plane where the curved motion occurs on the rotating rod is a second plane, where the second plane is perpendicular to the first plane.

As an optional implementation manner, in an embodiment of the present invention, a plane in which the transmission rod moves is a third plane, the third plane is perpendicular to the second plane, and the third plane and the first plane are the same plane or different planes.

As an optional implementation manner, in the embodiment of the present invention, the two secondary transmission mechanisms are respectively connected to the two rotating arms.

As an optional implementation manner, in an embodiment of the present invention, the primary transmission mechanism further includes a screw seat, the screw seat is fixedly disposed on the fixing seat and extends upward from the fixing seat, and the sliding block is slidably disposed on the guide pillar.

As an optional implementation manner, in an embodiment of the present invention, the holder further includes a housing, the fixing base and the driving device are both disposed in the housing, and the two arm portions extend out of the housing.

In a second aspect, the embodiment of the present invention further discloses an AGV having the clamping apparatus disclosed in the first aspect, which comprises an AGV body and the clamping apparatus, wherein the clamping apparatus is disposed on the AGV body.

The embodiment of the utility model provides a holder that both arms expand and AGV thereof through all setting up two rotor arms, driver part and drive mechanism at the fixing base, utilizes driver part drive mechanism motion to drive two rotor arms and rotates for two rotor arms can realize the centre gripping or loosen the wheel of treating haulage vehicle, and simple structure is compact, occupation space is little, and the design degree of difficulty is low.

Furthermore, by designing a primary transmission mechanism which generates linear motion and a secondary transmission mechanism which generates curvilinear motion under the transmission of the primary transmission mechanism, the linear motion is generated in a first plane through the sliding block, the curvilinear motion is generated in a second plane through the transmission rod, and simultaneously, the first plane is vertical to the second plane, so that the transmission is realized by fully utilizing two mutually vertical planes, the space occupied by the transmission mechanism is reduced, and the whole structure of the clamp holder is more compact.

In addition, the driving part adopts a motor, the first-stage transmission mechanism adopts a screw rod and a screw rod nut to be matched, the second-stage transmission mechanism adopts a transmission rod and a rotating rod to be matched, the driving mode and the transmission mode are simple and reliable, an additional design limiting structure is not needed, and the design difficulty is low.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a holder (included angle is 0 °) disclosed in an embodiment of the present invention;

FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;

fig. 3 is a schematic structural diagram of a holder (included angle is 180 °) according to an embodiment of the present invention;

FIG. 4 is a schematic view of the structure of FIG. 3 from another perspective;

fig. 5 is a schematic structural diagram of a housing of a holder disclosed in an embodiment of the present invention;

fig. 6 is a schematic structural diagram illustrating a connection between a driving member and a primary transmission mechanism according to an embodiment of the present invention;

fig. 7 is a schematic structural view illustrating a connection between a screw rod seat and a gear seat according to an embodiment of the present invention;

fig. 8 is a schematic structural view illustrating a connecting member disposed on a slider according to an embodiment of the present invention;

fig. 9 is a schematic structural view of two rotating arms and a fixing base according to a first embodiment of the present invention;

fig. 10 is a schematic structural view of a fixing base according to an embodiment of the present invention;

fig. 11 is a schematic view of the rotating rod, the transmission rod and the sliding block moving in different planes of movement according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the utility model provides an embodiment all belongs to the utility model discloses the scope of protection.

It should be noted that the terms "comprises" and "comprising," and any variations thereof, in the embodiments of the present invention, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example one

Please refer to fig. 1 to 4 together, which is a dual-arm unfolding clamp according to an embodiment of the present invention, including a fixing base 10, two rotating arms and a driving device, wherein the two rotating arms are rotatably and spaced apart from the fixing base 10 and extend downward from the fixing base 10, the driving device is disposed on the fixing base 10, the driving device includes a driving part 31 and a transmission mechanism, the transmission mechanism is connected to the driving part 31 and the two rotating arms, and is used for driving the two rotating arms to rotate under the driving of the driving part 31 to clamp or loosen the wheels of the vehicle to be transported.

In this embodiment, the driving member 31 may be a motor. The driving mode is simple and reliable, and the design difficulty is low. The driving transmission mechanism can drive the two rotating arms to rotate in the same direction and to be close to or far away from each other by controlling the positive and negative rotation of the motor, so that the two rotating arms clamp or loosen the wheels of the vehicle to be carried, and the control mode is simple and reliable. Compared with the existing AGV, the clamping assembly of the AGV adopts the bidirectional oil cylinder as a driving part, a hydraulic system needs to be designed, the clamp adopts the motor as the driving part 31, various hydraulic elements and complex pipelines do not need to be arranged, the structure is simpler, the manufacturing cost is low, the design difficulty is lower, and the potential safety hazard of pollution caused by easy leakage of a liquid medium of the hydraulic system does not exist.

Further, in order to reduce the rotation speed of the driving part 31 transmitted to the transmission mechanism and improve the torque, the driving device further comprises a speed reducer 34, wherein the speed reducer 34 is connected to the driving part 31 and the transmission mechanism, so that the higher rotation speed and the lower torque output by the driving part 31 are transmitted to the transmission mechanism, the transmission mechanism obtains a smaller rotation speed and a larger torque, the transmission mechanism drives the two rotating arms to rotate, the rotating precision is higher, the clamping force for clamping the tire of the vehicle to be conveyed is larger, and the clamping is reliable.

In the present embodiment, the two rotating arms are a first rotating arm 21 and a second rotating arm 22, the first rotating arm 21 includes a first rotating portion 211 and a first clamping portion 212, the first rotating portion 211 is rotatably disposed on the fixing base 10 and extends downward from the fixing base 10 to be connected to the first clamping portion 212, and the first clamping portion 212 is perpendicular to the first rotating portion 211; the second rotating arm 22 includes a second rotating portion 221 and a second clamping portion 222, the second rotating portion 221 is rotatably disposed on the fixing base 10 and extends downward from the fixing base 10 to connect with the second clamping portion 222, and the second clamping portion 222 is perpendicular to the second rotating portion 221. Wherein an included angle is formed between the first clamping portion 212 and the second clamping portion 222. Specifically, as shown in fig. 9, the first rotating portion 211 and the second rotating portion 221 have the same structure, taking the first rotating portion 211 as an example, the first rotating portion 211 includes a first portion 21a, a second portion 21b and a third portion 21c that are sequentially connected and arranged in a straight line, the first portion 21a is a square rod, and the first portion 21a is connected to the transmission mechanism by a nut pressing manner, so as to realize that the first rotating arm 21 rotates under the driving of the transmission mechanism. The second portion 21b is a long cylindrical shape and is rotatably disposed on the fixing base 10, so that the first rotating arm 21 can rotate relative to the fixing base 10; the third portion 21c is a bar having an approximately L-shaped cross section, and the cross section of the bar is square, so as to connect with the first clamping portion 212, thereby increasing the distance between the first clamping portion 212 and the fixing base 10, and preventing the first clamping portion 212 from interfering with the fixing base 10 when rotating.

More specifically, the first clamping portion 212 and the second clamping portion 222 are both long cylindrical rods, and when the first clamping portion 212 and the second clamping portion 222 clamp the wheel of the vehicle to be transported, the first clamping portion 212 and the second clamping portion 222 are tangent to the surface of the wheel, so as to avoid damage to the wheel when the first clamping portion 212 and the second clamping portion 222 clamp the wheel. The first clamping portion 212 and the second clamping portion 222 are designed in a long-strip cylindrical mode, namely, the cross section of the first clamping portion 212 and the cross section of the second clamping portion 222 are both circular, the cross section of the wheel is circular, when the clamping force required for clamping the wheel of the vehicle to be conveyed is calculated, the weight of the vehicle can be just decomposed into two components, the two components are respectively the tangent point of the cross section of the first clamping portion 212 or the cross section of the second clamping portion 222 and the cross section of the wheel points to the cross section of the first clamping portion 212 or the cross section of the second clamping portion 222, the required clamping force can be obtained by further decomposing the two components, the calculation is simple, and the design difficulty of the clamp is low.

Further, the first rotating arm 21 and the second rotating arm 22 rotate simultaneously and rotate in opposite directions under the driving of the driving member 31 to adjust the size of the included angle between the first clamping portion 212 and the second clamping portion 222, so that the clamping or releasing of the wheels of the vehicle to be transported can be realized by adjusting the size of the included angle between the first clamping portion 212 and the second clamping portion 222.

Specifically, in order to improve the adjustability of the included angle between the first clamping portion 212 and the second clamping portion 222, the included angle between the first clamping portion 212 and the second clamping portion 222 ranges from 0 ° to 180 °. When the included angle is 0 °, the first clamping portion 212 and the second clamping portion 222 are disposed in parallel; when the included angle is 180 °, the first clamping portion 212 and the second clamping portion 222 are disposed in a straight line. The adjustable range of the included angle between the first clamping portion 212 and the second clamping portion 222 is large, so that the clamp can clamp wheels with different sizes, namely, the clamp can be suitable for vehicles with different models.

In this embodiment, as shown in fig. 5, the holder further comprises a housing 40, the fixing base 10 and the driving device are both disposed in the housing 40, and the two rotating arm portions extend out of the housing 40. Specifically, the housing 40 is approximately in a shape of a Chinese character 'tu', the first rotating arm 21 and the second rotating arm 22 are disposed on the housing 40 in the same manner, taking the first rotating arm 21 as an example, the first portion 21a and the second portion 21b of the first rotating portion 211 are located in the housing 40, the third portion 21c thereof is located outside the housing 40, and the first clamping portion 212 is located outside the housing 40. It can be understood that the clamp only has the third portion of the first clamping portion 212 for clamping or releasing the vehicle to be handled and the first rotating portion 211 for avoiding the interference with the housing 40 when the first clamping portion 212 rotates, which is disposed outside the housing 40, and other components are disposed inside the housing 40, so that the clamp has a more compact structure and occupies less space.

In this embodiment, the transmission mechanism includes a first transmission mechanism connected to the driving member 31 and a second transmission mechanism connected to the first transmission mechanism and the two rotating arms, and the first transmission mechanism is configured to perform a linear motion under the driving of the driving member 31 and transmit the linear motion to the second transmission mechanism, so that the second transmission mechanism performs a curved motion and drives the two rotating arms to rotate.

As shown in fig. 6 to 7, the primary transmission mechanism includes a screw 321 vertically disposed on the fixing base 10 and connected to the driving member 31, a screw nut 322 engaged with the screw 321, and a slider 323 connected to the screw nut 322, wherein the slider 323 is configured to generate the linear motion. In order to realize the transmission of the power output by the driving member 31 to the primary transmission mechanism, the driving device further includes a gear set 35, and the gear set 35 is connected to the speed reducer 34 and the screw rod 321. Specifically, the gear set 35 includes a driving gear 351 disposed on the output shaft of the speed reducer 34, a transmission gear 352 and a driven gear 353 disposed on the lead screw 321, and the transmission gear 352 is engaged with the driving gear 351 and the driven gear 353. More specifically, in order to support the gear set 35, the driving device further includes a gear seat 36 and a gear seat cover 37, the gear seat 36 is approximately square and is provided with a supporting groove 36a, the gear set 35 is disposed in the supporting groove 36a, and the gear seat cover 37 is used for sealing one side of the gear seat 36 provided with the supporting groove 36a so as to protect the gear set 35 and prevent the gear set 35 from being exposed to the air and damaging the gear set 35, thereby prolonging the service life of the gear set 35.

Further, the primary transmission mechanism further includes a screw seat 324 and a guide post 325 parallel to the screw 321, the screw seat 324 is fixedly disposed on the fixing seat 10, the screw 321 is connected to the screw seat 324, the guide post 325 is fixedly disposed on the fixing seat 10 and extends upward from the fixing seat 10, and the slider 323 is slidably disposed on the guide post 325. Because this fixing base 10 is located perpendicularly to this lead screw 321, the linear motion that this screw-nut 322 took place is along this guide pillar 325 vertical motion, namely, this one-level drive mechanism is vertical drive, and this lead screw 321's stroke is shorter for can this lead screw 321 can adopt the mode that unilateral lead screw seat supported, further make this one-level drive mechanism's structure simpler and the design degree of difficulty is lower. Specifically, the screw base 324 is connected to the gear base 36 and may be integrally formed.

Furthermore, the number of the guide posts 325 is two, the two guide posts 325 are disposed on the fixing base 10 at intervals, the fixing base 10 has two guide holes 11 corresponding to the two guide posts 325, and the two guide posts 325 are respectively fixed on the two guide holes 11. Through the design, the sliding block 323 can slide on the two guide posts 325 more stably, the damage of the primary transmission mechanism caused by the jumping of the screw rod 321 during rotation is prevented, and the service life of the primary transmission mechanism is prolonged.

It can be known that the primary transmission mechanism is in screw nut transmission, the transmission mode is simple and reliable, and the design difficulty is low. By adopting the transmission mode, the transmission precision is high, the two rotating arms are more accurate in clamping or loosening the wheels of the vehicle to be carried, the clamping is more reliable, and the wheels of the vehicle to be carried can be prevented from being damaged due to over-tight clamping.

In this embodiment, the secondary transmission mechanism includes a transmission rod rotatably connected to the sliding block 323 and a rotation rod rotatably connected to the transmission rod and connected to the rotation arm, and the rotation rod is used for generating the curve motion and driving the rotation arm to rotate. In particular, the curvilinear motion is a circular motion. In order to rotatably connect the transmission rod with the slider 323, the slider 323 is provided with a connecting member 326, the connecting member 326 includes a fixing portion 326a fixed to the slider 323 and a connecting portion 326b connected to the transmission rod, and the fixing portion 326a is connected to the connecting portion 326b and is in a straight line. The transmission rod is rotatably connected with the sliding block 323 through the connecting piece 326, so that the transmission rod can be prevented from interfering with the sliding block 323 during movement, the condition that the transmission rod collides with the sliding block 323 to cause damage is avoided, and the service life of the transmission mechanism is prolonged.

More specifically, in order to reduce the friction between the rotating rod and the fixing seat 10 when the rotating rod rotates, a friction pad 50 is disposed between the rotating rod and the fixing seat 10, so that when the rotating rod rotates, the friction pad 50 can separate the rotating rod from the fixing seat 10 to reduce the friction therebetween, thereby prolonging the service life of the clamp.

It can be known that, this secondary drive mechanism is link mechanism, and transmission is simple reliable, and the design degree of difficulty is low, only needs transfer line and dwang cooperation can turn into curvilinear motion with linear motion, compares the current transmission that needs additional design limit structure, and this transmission design degree of difficulty is lower.

Further, as shown in fig. 2 and 8, the two-stage transmission mechanism is provided in two sets, and is respectively connected to the first rotating arm 21 and the second rotating arm 22. That is, the two transmission levers are the first transmission lever 331 and the second transmission lever 332, and the two transmission levers are the first rotation lever 33a and the second rotation lever 33 b. It can be seen that there are two connectors 326, which are the first connector 3261 and the second connector 3262. The first transmission rod 331 is rotatably connected to the first connecting member 3261 and the first rotation rod 33a, the first rotation rod 33a is connected to the first rotation arm 21, the second transmission rod 332 is rotatably connected to the second connecting member 3262 and the second rotation rod 33b, and the second rotation rod 33b is connected to the second rotation arm 22. The two groups of secondary transmission mechanisms are respectively used for driving the two rotating arms to rotate, and the two groups of secondary transmission mechanisms are symmetrically arranged relative to the primary transmission mechanism, so that the space is reasonably utilized, and the structure of the clamp holder is more compact.

In this embodiment, as shown in fig. 9 to 10, the fixing base 10 is approximately in a convex shape, the fixing base 10 includes a first surface 1a and a second surface 1b that are oppositely disposed, the fixing base 10 is provided with a first mounting groove 12 that penetrates through the first surface 1a and the second surface 1b, the speed reducer 34 is located in the first mounting groove 12, the driving part 31 is located above the first surface 1a of the fixing base 10 and is located in a space between two guide posts 325, the driving part 31 and the speed reducer 34 are disposed by slotting on the fixing base 10 and fully utilizing the space between the two guide posts 325, so as to reduce a space occupied by the driving part 31 and the speed reducer 34, and further make the overall structure of the holder more compact.

Further, the fixing base 10 is provided with a second mounting groove 13 and a screw hole 14, the second mounting groove 13 is disposed on the second surface 1b of the fixing base 10 and communicated with the first mounting groove 12, the screw 321 is disposed in the screw hole 14 and upwardly penetrates to the first surface 1a of the fixing base 10, the screw base 324, the gear base 36 and the gear base cover 37 are disposed in the second mounting groove 13, and the screw 321 upwardly extends from the inside of the screw 321 to the outside of the fixing base 10. The screw rod seat 324, the gear seat 36, the gear seat cover 37 and the screw rod 321 are arranged by slotting and perforating on the fixed seat 10, so that the space occupied by the screw rod seat 324, the gear seat 36, the gear seat cover 37 and the screw rod 321 is reduced, and the whole structure of the clamp holder is more compact.

In the embodiment of the present invention, as shown in fig. 11, the plane of the linear motion of the slider 323 is a first plane α, and fig. 11 shows the direction of the up-and-down motion of the slider 323 in the first plane α, as shown by the up-and-down arrow on the first plane α of fig. 11, the plane of the curved motion of the rotating rod is a second plane β, and fig. 11 shows the direction of the curved motion of the rotating rod in the second plane β, as shown by the arrow on the second plane β of fig. 11, the second plane β is perpendicular to the first plane α. Specifically, the first plane α is a vertical plane, and the second plane β is a horizontal plane. The design that the linear motion and the curvilinear motion are in two mutually perpendicular planes ensures that the two motions do not interfere with each other and ensures the normal transmission of the transmission mechanism. Meanwhile, the design makes full use of two mutually perpendicular planes to realize transmission, reduces the space occupied by the transmission mechanism and enables the whole structure of the holder to be more compact.

Further, the plane on which the transmission rod moves is a third plane γ, the third plane γ is perpendicular to the second plane β, and the third plane γ and the first plane α are the same plane or different planes. Preferably, the third plane γ is the same plane as the first plane. It will be appreciated that the drive rod moves in the first plane α and the drive rod moves in the second plane β, i.e. the two-stage drive takes up less space by the movement of the drive rod and the drive rod in two mutually perpendicular planes, thus making the overall gripper more compact.

It can be known that, this holder sets up drive part 31, two rotor arms and drive mechanism etc. through make full use of space on fixing base 10 to realize the transmission through make full use of motion plane, reduced the space that each spare part occupy, simultaneously, ensure that each spare part motion does not interfere each other, make this holder overall structure compacter, occupation space is little.

In the present embodiment, the process of the gripper gripping the wheel of the vehicle to be handled is as follows:

1. positioning the automobile: the automobile stops until the wheel is positioned between the first clamping part 212 and the second clamping part 222, namely the area of the included angle;

2. driving: the driving member 31 rotates in the forward or reverse direction, and the rotational speed is reduced and the torque is increased by the speed reducer 34 and transmitted to the gear train 35;

3. gear transmission: the driving gear 351 rotates and drives the driven gear 353 to rotate through a transmission gear 352 meshed with the driving gear 351 and the driven gear 353, and the driven gear 353 drives the screw rod 321 to rotate forwards or backwards;

4. primary transmission: the screw rod 321 rotates to drive the screw rod nut 322 engaged with the screw rod 321 to move vertically downward along the guide post 325, the screw rod nut 322 drives the slider 323 to slide vertically downward along the guide post 325, and the slider 323 drives the transmission rod to move through the connecting piece 326.

5. Secondary transmission: the transmission rod moves to drive the rotation rod to perform circular motion, so that the two rotation arms rotate in opposite directions and approach each other, an included angle between the first clamping portion 212 and the second clamping portion 222 is reduced, and the first clamping portion 212 and the second clamping portion 222 clamp the wheels of the vehicle to be transported.

And, the process of the gripper releasing the wheel of the vehicle to be carried is as follows:

1. driving: the driving member 31 rotates in the reverse direction or the normal direction, and the rotational speed is reduced and the torque is increased by the speed reducer 34 and transmitted to the gear train 35;

2. gear transmission: the driving gear 351 rotates and drives the driven gear 353 to rotate through a transmission gear 352 meshed with the driving gear 351 and the driven gear 353, and the driven gear 353 drives the screw rod 321 to rotate reversely or forwardly;

3. primary transmission: the screw rod 321 rotates to drive the screw rod nut 322 matched with the screw rod 321 to vertically move upwards along the guide post 325, the screw rod nut 322 drives the slide block 323 to vertically slide upwards along the guide post 325, and the slide block 323 drives the transmission rod to move through the connecting piece 326.

4. Secondary transmission: the transmission rod moves to drive the rotation rod to perform circular motion, so that the two rotation arms rotate reversely and are away from each other, an included angle between the first clamping portion 212 and the second clamping portion 222 is increased, and the first clamping portion 212 and the second clamping portion 222 loosen wheels of the vehicle to be transported.

The embodiment of the utility model provides a holder that both arms expand through all setting up two rotor arms, driver part and drive mechanism at the fixing base, utilizes driver part drive mechanism motion to drive two rotor arms and rotates for two rotor arms can realize the centre gripping or loosen the wheel of treating haulage vehicle, and simple structure is compact, occupation space is little, and the design degree of difficulty is low.

In addition, the driving part adopts a motor, the first-stage transmission mechanism adopts a screw rod and a screw rod nut to be matched, the second-stage transmission mechanism adopts a transmission rod and a rotating rod to be matched, the driving mode and the transmission mode are simple and reliable, a limit structure of an external meter is not needed, and the design difficulty is low.

Example two

The embodiment two of the utility model provides a AGV with the holder of above-mentioned embodiment one, this AGV includes AGV body and foretell holder, and this AGV body is located to this holder.

In particular, the gripper may be used to grip or release a wheel of a vehicle to be handled.

The embodiment of the utility model provides an in still provide an AGV, through the holder centre gripping of locating the AVG body or loosen the wheel of treating haulage vehicle, the centre gripping is reliable, and simple structure is compact, and occupation space is little, and the design degree of difficulty is low.

The gripper and the AGV thereof with two arms unfolded disclosed in the embodiment of the present invention are introduced in detail, and the principle and the implementation mode of the present invention are explained by applying an example, and the explanation of the above embodiment is only used to help understand the gripper and the AGV thereof with two arms unfolded of the present invention and the core idea thereof; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the specific implementation and application scope, to sum up, the content of the present specification should not be understood as the limitation of the present invention.

Claims

1. A holder with two unfolded arms is characterized by comprising

A fixed seat;

the two rotating arms can be rotated and arranged on the fixed seat at intervals and extend downwards from the fixed seat; and

the driving device is arranged on the fixed seat and comprises a driving part and a transmission mechanism, the transmission mechanism is connected with the driving part and the two rotating arms and used for driving the two rotating arms to rotate to clamp or loosen the wheels of the vehicle to be transported under the driving of the driving part.

2. The gripper of claim 1, wherein the two rotating arms are a first rotating arm and a second rotating arm, respectively;

3. The gripper of claim 2, wherein the first rotating arm and the second rotating arm rotate simultaneously and in opposite directions under the driving of the driving member to adjust the size of the included angle between the first gripping portion and the second gripping portion.

4. A holder according to any one of claims 1 to 3 wherein the transmission comprises a primary transmission connected to the drive member and a secondary transmission connected to the primary transmission and the two rotatable arms;

5. The clamp holder according to claim 4, wherein the primary transmission mechanism comprises a lead screw vertically arranged on the fixed seat and connected with the driving part, a lead screw nut matched with the lead screw and a slide block connected with the lead screw nut, and the slide block is used for generating the linear motion;

6. A holder according to claim 5 wherein the plane in which said linear movement of said slider occurs is a first plane and the plane in which said curvilinear movement of said rotatable lever occurs is a second plane, said second plane being perpendicular to said first plane.

7. A holder according to claim 6 wherein the plane in which the drive link moves is a third plane, the third plane being perpendicular to the second plane and the third plane being the same plane or a different plane to the first plane.

8. A holder according to claim 4 wherein the two stage transmission mechanisms are two and are connected to the two rotatable arms respectively.

9. The holder according to claim 5, wherein the primary transmission mechanism further comprises a screw base, the screw base is fixedly arranged on the fixed base, and the screw is connected to the screw base.

10. The apparatus of claim 9, wherein the primary drive mechanism further comprises a guide post parallel to the lead screw, the guide post is fixed to the fixed base and extends upward from the fixed base, and the slide block is slidably disposed on the guide post.

11. A holder according to any one of claims 1 to 3 wherein the holder further comprises a housing, the fixed base and the drive means being provided in the housing, the two arm portions extending outside the housing.

12. An AGV comprising an AGV body and a gripper according to any one of claims 1 to 11, the gripper being provided on the AGV body.