CN220842317U

CN220842317U - Snatch subassembly and AGV dolly

Info

Publication number: CN220842317U
Application number: CN202322752852.3U
Authority: CN
Inventors: 刘辉成; 吴银峰; 郑晓渝
Original assignee: Chongqing Jiateng Robot Automation Co ltd
Current assignee: Chongqing Jiateng Robot Automation Co ltd
Priority date: 2023-10-13
Filing date: 2023-10-13
Publication date: 2024-04-26
Anticipated expiration: 2033-10-13

Abstract

The utility model belongs to the technical field of remains conveying equipment, and provides a grabbing component and an AGV (automatic guided vehicle) with the grabbing component, wherein the grabbing component comprises a grabbing mechanism and a third driving mechanism; the grabbing mechanism can do reciprocating linear motion along the Y-axis direction between a first working position C and a second working position C, and the grabbing mechanism comprises: the first end of the telescopic structure is fixedly connected with the power output end of the third driving mechanism, and the second end of the telescopic structure extends towards the direction close to the second end of the bearing assembly; the grabbing structure is arranged at the second end of the telescopic structure and is used for grabbing the stretcher; the third driving mechanism is arranged on the bearing assembly, the power output end of the third driving mechanism is in transmission connection with the power input end of the grabbing mechanism, and the third driving mechanism is used for driving the grabbing mechanism to do reciprocating linear motion between the first working position C and the second working position C. The grabbing component and the AGV trolley provided by the utility model are simple in structure, reasonable in design, wide in grabbing range and capable of grabbing the stretcher deep into the refrigerator.

Description

Snatch subassembly and AGV dolly

Technical Field

The utility model relates to the technical field of remains conveying equipment, in particular to a grabbing assembly and an AGV trolley.

Background

At present, a stretcher with remains placed in a funeral house is moved out of a refrigerator and is conveyed to a destination, and the stretcher is usually manually completed. With the development of technology, a carrying device for automatically transferring remains in a funeral parlor has been developed.

As shown in fig. 1, a handling device for automatically transferring remains in a funeral and interment parlor according to the prior art includes an AGV main body, a loading plate disposed at the top of the AGV main body and capable of moving linearly back and forth between a first working position and a second working position in a longitudinal direction, a lifting device disposed on the AGV main body and used for driving the loading plate to move linearly back and forth between the first working position and the second working position, and a traction device disposed on the loading plate and used for traction of a stretcher assembly with remains placed on the loading plate or pushing out of the loading plate.

The carrying device has the following defects: the telescopic length of the grabbing component of the traction device can not be adjusted, so that the grabbing range of the grabbing component is smaller, and the grabbing component can not grab a stretcher penetrating into a refrigerator.

Disclosure of utility model

Aiming at the defects in the prior art, the utility model aims to provide a grabbing component and an AGV trolley so as to improve the grabbing range of the grabbing component and further grab a stretcher penetrating into a refrigerator.

In order to achieve the above object, in one aspect, the present utility model provides a gripping assembly provided on an AGV main body, including a gripping mechanism and a third driving mechanism;

The grabbing mechanism is arranged on the bearing assembly, the grabbing mechanism can do reciprocating linear motion between a first working position C and a second working position C along the Y-axis direction, the grabbing mechanism is used for grabbing a stretcher, and the grabbing mechanism comprises:

The first end of the telescopic structure is fixedly connected with the power output end of the third driving mechanism, and the second end of the telescopic structure extends towards the direction close to the second end of the bearing assembly; and

The grabbing structure is arranged at the second end of the telescopic structure and is used for grabbing the stretcher;

The third driving mechanism is arranged on the bearing assembly, the power output end of the third driving mechanism is in transmission connection with the power input end of the grabbing mechanism, and the third driving mechanism is used for driving the grabbing mechanism to do reciprocating linear motion between the first working position C and the second working position C.

Further, the third driving mechanism includes:

The sliding seat is arranged on the bearing assembly in a sliding manner, is fixedly connected with the first end of the telescopic structure and can perform reciprocating linear motion between the first working position C and the second working position C along the Y-axis direction; and

And the third driving structure is arranged on the sliding seat and/or the bearing assembly and is used for driving the sliding seat to do reciprocating linear motion between the first working position C and the second working position C.

Further, the grabbing structure includes:

The top or bottom of the grabbing piece is provided with a limiting groove, the grabbing piece is arranged at the second end of the telescopic structure, and the grabbing piece can reciprocate between a first working position D and a second working position D in a direction approaching to or far from an XOY plane; and

And the fifth driving device is arranged at the second end of the telescopic structure, the power output end of the fifth driving device is in transmission connection with the power input end of the grabbing piece, and the fifth driving device is used for driving the grabbing piece to reciprocate between the first working position D and the second working position D.

Further, the first end of the grabbing piece is hinged with the second end of the telescopic structure, the second end of the grabbing piece extends towards the direction close to the second end of the bearing assembly, and the second end of the grabbing piece can swing back and forth around the hinged center line of the grabbing piece between the first working position D and the second working position D;

The fifth driving device comprises a fifth electric push rod, wherein the first end of the fifth electric push rod is hinged with the second end of the telescopic structure, and the second end of the fifth electric push rod is hinged with the grabbing piece.

On the other hand, the utility model also provides an AGV, which comprises the grabbing assembly.

The utility model has the beneficial effects that:

The grabbing component and the AGV trolley provided by the utility model are simple in structure and reasonable in design, and the grabbing structure is arranged at the free end of the telescopic structure, so that the purpose of improving the grabbing range is achieved, and the purpose of grabbing a stretcher penetrating into a refrigerator is achieved.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.

Fig. 1 is a perspective view showing a prior art carrying device for automatically transferring remains in a funeral parlor;

FIG. 2 is a perspective view (direction one) of a remains handling AGV according to one embodiment of the present invention;

Fig. 3 is an enlarged view at a shown in fig. 2;

FIG. 4 is a perspective view (direction two) of the remains handling AGV of FIG. 2;

fig. 5 is an enlarged view at B shown in fig. 4;

FIG. 6 is a combined perspective view of the load bearing assembly, door opening assembly and grasping assembly of the remains handling AGV of FIG. 2;

fig. 7 is an enlarged view at C shown in fig. 6;

FIG. 8 is a bottom view of a combined perspective view of the load bearing assembly, door opening assembly and grasping assembly of the remains handling AGV of FIG. 6.

Reference numerals:

AGV main body 100, first belt 201, first motor 202, elevating platform 301, bearing seat 302, limit structure 303, driving element 304, push-pull arm 305, first guide rail 306, roller 307, sliding seat 401, third motor 402, expansion plate A403, expansion plate B404, expansion plate C405, fourth motor 406, second belt 407, third belt 408, gripping element 409, fifth electric putter 410, second guide rail 411, connecting shaft 412, door opening element 501, mounting bracket 502, sixth electric putter 503, and seventh electric putter 504.

Detailed Description

Embodiments of the technical scheme of the present utility model will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present utility model, and thus are merely examples, and are not intended to limit the scope of the present utility model.

It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this utility model belongs.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. In the description of the present utility model, the meaning of "plurality" is two or more unless specifically defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

As shown in fig. 2-8, the present utility model provides a carrier assembly and an AGV trolley having the carrier assembly, where the AGV trolley includes an AGV main body 100, a carrier assembly, a first driving assembly, a grabbing assembly, and a door opening assembly.

A carriage assembly is mounted on top of the AGV body 100 for reciprocal linear movement along the Z-axis between a first operating position a and a second operating position a, the carriage assembly being for carrying a stretcher.

The first driving assembly is arranged on the AGV main body 100, a power output end of the first driving assembly is in transmission connection with the bearing assembly, and the first driving assembly is used for driving the bearing assembly to do reciprocating linear motion between a first working position A and a second working position A. Specifically, the first drive assembly includes four first belt structures and a first motor.

The four first belt structures are arranged in a rectangular array, the first belt structures comprising first pulleys and a first belt 201. The number of the first pulleys is two, the two first pulleys are sequentially arranged at intervals along the longitudinal direction and are rotationally connected with the AGV main body 100, the first transmission belt 201 is sleeved on the two first pulleys and can rotate along with the rotation of the two first pulleys, the first transmission belt 201 is fixedly connected with the bearing assembly, and specifically, the first transmission belt 201 is fixedly connected with the lifting seat. The first motor 202 is fixedly mounted on the AGV body 100, and a power output shaft of the first motor 202 is in transmission connection with one of the two first pulleys of the first belt structure, and the first motor 202 is used for driving the first pulleys to rotate. Specifically, two first belt wheels of two first driving belt structures located at the same end of the bearing assembly are in transmission connection through transmission shafts, and two transmission shafts are in transmission connection through transmission connection structures. When the device is used, the first motor 202 drives the first belt wheel to rotate, so that the first transmission belt 201 is driven to rotate, the purpose of driving the first transmission belt 201 to rotate is achieved, and the purpose of driving the bearing assembly to do reciprocating linear motion between the first working position A and the second working position A is achieved.

The grabbing component is arranged at the first end of the bearing component and is used for pulling the stretcher from the refrigerator to the bearing component or pushing the stretcher out of the bearing component. The door opening assembly is arranged at the second end of the bearing assembly and is used for opening a cabinet door of the refrigerator.

When the refrigerator remains are required to be moved to the target area, the AGV moves to the lower part of the front side of the target refrigerator, the first driving assembly moves the bearing assembly to the target cooling your place under the action of the first driving assembly, then the cabinet door of the refrigerator is opened under the action of the door opening assembly, then the stretcher placed with the remains in the refrigerator is pulled to the bearing assembly by the grabbing assembly under the action of the grabbing assembly, then the AGV moves to the target area, and the stretcher on the bearing assembly is pushed out by the grabbing assembly under the action of the grabbing assembly, so that the purpose of moving the remains to the target area is achieved.

The remains transport AGV of this structure, simple structure, reasonable in design can open the cabinet door of freezer automatically, also can pull the stretcher in the freezer to bear on the subassembly or release the stretcher from bearing the subassembly automatically, easy operation, degree of automation is higher, has saved the human cost.

In one embodiment, the carrier assembly includes a lift table 301, a carrier base 302, and a second drive mechanism.

The elevating platform 301 is disposed along the Y-axis direction, the elevating platform 301 is slidably connected to the AGV main body 100, and the elevating platform 301 is movable in a reciprocating linear motion along the Z-axis direction between a first working position a and a second working position a.

The length direction of the bearing seat 302 is set along the Y-axis direction, the bearing seat 302 is provided with two, the two bearing seats 302 are respectively arranged at two sides of the lifting platform 301, wherein one side, away from each other, of the two bearing seats 302 is fixedly provided with a limiting structure 303, and specifically, the limiting structure 303 comprises a limiting plate or a plurality of limiting blocks or limiting rods which are sequentially arranged at intervals along the length direction of the bearing seat 302. Wherein, at least one bearing seat 302 can do reciprocating linear motion along the X-axis direction between a first working position B and a second working position B. In use, the purpose of adapting to stretchers of different widths can be achieved by changing the distance between the two carrying seats 302.

Preferably, both carrying seats 302 are reciprocally movable in a straight line along the X-axis direction between the first operating position B and the second operating position B, i.e. the two carrying seats 302 can be moved closer to or further away from each other. Specifically, the lifting platform 301 is provided with a first guide rail 306, and the bearing seat 302 is slidably disposed on the first guide rail 306.

Preferably, a plurality of rollers 307 are arranged on the bearing surface of the bearing seat 302, and the rollers 307 are sequentially arranged at intervals along the length direction of the bearing seat 302, so that the purpose of conveniently moving the stretcher is achieved.

The second driving mechanism is disposed on the lifting platform 301, and is used for driving the bearing seat 302 to perform a reciprocating linear motion between the first working position B and the second working position B.

Preferably, the second drive mechanism includes a drive member 304, a push-pull arm 305, and a second motor.

The driving member 304 is rotatably connected to the elevating platform 301, and the rotation center line of the driving member 304 is parallel to the Z-axis or Y-axis direction. Preferably, the rotation center line of the driving member 304 is parallel to the Z axis for space saving purposes.

The two push-pull arms 305 are provided, the first ends of the two push-pull arms 305 are respectively hinged with the two bearing seats 302, the second ends of the two push-pull arms 305 are respectively hinged with the driving piece 304, and the hinging central lines of the two ends of the two push-pull arms 305 are parallel to the rotation central line of the driving piece 304, wherein the hinging central lines of the second ends of the two push-pull arms 305 are respectively positioned at two sides of the rotation central line of the driving piece 304, namely, the hinging central lines of the second ends of the two push-pull arms 305 and the hinging central line of the driving piece 304 have a preset distance, so that the driving piece 304 can drive the bearing seats 302 to move through the push-pull arms 305 in the rotating process. Preferably, the hinge center line of the second ends of the two push-pull arms 305 is equidistant from the rotation center line of the driving member 304, so as to achieve the purpose of driving the two bearing seats 302 to move at the same time by the same distance, and further achieve the purpose of keeping the center line of the bearing assembly consistent with the center line of the AGV main body 100 all the time, i.e. achieving the purpose of automatic centering.

The second motor is fixedly arranged on the lifting platform 301, a power output shaft of the second motor is in transmission connection with the driving piece 304, and the second motor is used for driving the driving piece 304 to rotate.

When in use, the second motor drives the driving piece 304 to rotate, so that the push-pull arm 305 drives the two bearing seats 302 to approach or separate from each other, thereby achieving the purpose of changing the distance between the two bearing seats 302, and achieving the purpose of adapting to stretchers with different widths.

In one embodiment, the grasping assembly includes a grasping mechanism and a third drive mechanism.

The grabbing mechanism is arranged on the bearing assembly, can do reciprocating linear motion between the first working position C and the second working position C along the Y-axis direction, and is used for grabbing a stretcher, and particularly is used for grabbing a grabbing rod at the end part of the stretcher. The third driving mechanism is arranged on the bearing assembly, the power output end of the third driving mechanism is in transmission connection with the power input end of the grabbing mechanism, and the third driving mechanism is used for driving the grabbing mechanism to do reciprocating linear motion between the first working position C and the second working position C.

Specifically, the third driving mechanism includes a slide holder 401 and a third driving structure.

The sliding seat 401 is slidably disposed on the carrier assembly. Specifically, the bearing assembly is provided with a second rail 411, and the sliding seat 401 is slidably disposed on the second rail 411. The sliding seat 401 can reciprocate linearly in the Y-axis direction between the first operating position C and the second operating position C. A third driving structure is disposed on the sliding seat 401 and/or the bearing assembly, and the third driving structure is used for driving the sliding seat 401 to perform a reciprocating linear motion between the first working position C and the second working position C.

Specifically, the third drive structure includes a third motor 402, a gear, and a rack.

The third motor 402 is fixedly mounted on the slide block 401. The gear is rotatably mounted on the slide 401 and is in driving connection with the power output shaft of the third motor 402. The rack is fixedly connected with the second guide rail. When the stretcher is used, the third motor 402 drives the gear to rotate, and under the cooperation of the gear and the rack, the gear moves along the rack, so that the purpose of driving the sliding seat 401 to move is achieved, and the purpose of driving the grabbing mechanism to move is further achieved, so that the stretcher is pulled from the refrigerator to the bearing assembly or pushed out from the bearing assembly.

Or the third drive structure includes a third motor 402 and a roller.

The third motor 402 is fixedly mounted on the slide block 401. The roller is arranged on the second guide rail in a rolling way and is rotationally connected with the sliding seat 401, and the power input end of the roller is in transmission connection with the power output shaft of the third motor 402. When the stretcher is used, the third motor 402 drives the roller to rotate, so that the purpose of driving the sliding seat 401 to move is achieved, and the purpose of driving the grabbing mechanism to move is achieved, so that the stretcher is pulled from the refrigerator to the bearing assembly or pushed out from the bearing assembly.

In one embodiment, the grasping mechanism includes a telescoping structure and a grasping structure.

The first end of the telescopic structure is fixedly connected with the power output end of the third driving mechanism, specifically, the first end of the telescopic structure is fixedly connected with the sliding seat 401, and the second end of the telescopic structure extends towards the direction close to the second end of the bearing assembly. Specifically, the telescopic structure comprises two symmetrically arranged telescopic units, and each telescopic unit comprises a plurality of telescopic plates and a telescopic control module which are connected with each other in a sliding manner.

For convenience of description of the telescopic structure in the present utility model, here, it is assumed that the number of telescopic plates is three, namely, telescopic plate a403, telescopic plate B404 and telescopic plate C405. Wherein, expansion plate A403 and sliding seat 401 fixed connection, expansion plate B404 and expansion plate A403 sliding connection, expansion plate C405 and expansion plate B404 sliding connection.

The telescoping control module includes a fourth motor 406, a second belt assembly, and a third belt assembly. Wherein, the fourth motor 406 is fixed to be set up on expansion plate a403, and the second drive belt assembly is set up on expansion plate a403, and the second drive belt assembly includes second band pulley and second drive belt 407.

The two second pulleys are arranged, are sequentially arranged at intervals along the length direction of the expansion plate A403 and are rotationally connected with the expansion plate A403, and one of the two second pulleys is in transmission connection with the power output shaft of the fourth motor 406. The second driving belt 407 is sleeved on the two second belt pulleys and can rotate along with the rotation of the second belt pulleys, and the second driving belt 407 is fixedly connected with the expansion plate B. When the telescopic device is used, the second belt wheel is driven to rotate through the fourth motor 406, so that the purpose of driving the second transmission belt 407 to transmit is achieved, and the purpose of driving the telescopic plate B to move towards or away from the telescopic A through the second transmission belt 407 is achieved.

A third belt assembly is provided on the telescoping plate B, the third belt assembly comprising a third pulley and a third belt 408.

The third pulleys are arranged in two, and the two third pulleys are sequentially arranged at intervals along the length direction of the expansion plate B and are rotationally connected with the expansion plate A403. The third driving belt 408 is sleeved on the two third pulleys and can rotate along with the rotation of the third pulleys, and the third driving belt 408 is fixedly connected with the expansion plate A403 and the expansion plate C405. When the telescopic device is used, the second belt wheel is driven to rotate through the fourth motor 406, so that the purpose of driving the second transmission belt 407 to transmit is achieved, and the purpose of driving the telescopic plate B to move towards or away from the telescopic A through the second transmission belt 407 is achieved. Because the relative position between the expansion plate A403 and the expansion plate B is changed, the relative position between the third driving belt 408 component and the expansion plate A403 is also changed, and because the third driving belt 408 is fixedly connected with the expansion plate A403, when the relative position between the expansion plate A403 and the expansion plate B is changed, the expansion plate A403 drives the third driving belt 408 to rotate, so that the expansion plate C405 is driven to move towards a direction close to or far away from the expansion plate B through the third driving belt 408, and the purpose of expansion is achieved.

The grabbing structure is arranged at the second end of the telescopic structure and used for grabbing the stretcher.

When the refrigerator is used, under the action of the telescopic structure, the telescopic structure stretches the grabbing structure into the refrigerator, so that the aim of increasing grabbing distance is fulfilled.

In one embodiment, the gripping structure comprises gripping members 409 and a fifth driving means.

The limiting groove is formed in the top or the bottom of the grabbing piece 409, if the limiting groove is formed in the top of the grabbing piece 409, the grabbing rod at the end part of the stretcher can be limited in the limiting groove only by means of the gravity of the stretcher and remains, and the limiting effect is poor. Therefore, preferably, the limiting groove is formed in the bottom of the grabbing piece 409, and the bottom of the stretcher is provided with the bearing component for limiting and is matched with the grabbing piece 409 at the top, so that the purpose of improving grabbing limiting effect is achieved. The gripping member 409 is arranged at the second end of the telescopic structure, and the gripping member 409 is reciprocally movable in a direction towards or away from the XOY plane between a first operating position D and a second operating position D.

Specifically, the gripping member 409 may reciprocate between the first working position D and the second working position D in a direction approaching or separating from the XOY plane, or reciprocate between the first working position D and the second working position D in a direction approaching or separating from the XOY plane, so as to achieve the purpose of gripping and releasing the stretcher.

The gripping member 409 may be linearly reciprocated between the first operating position D and the second operating position D in a direction approaching or moving away from the XOY plane, or the gripping member 409 may be linearly reciprocated between the first operating position D and the second operating position D in the longitudinal direction or diagonally reciprocated between the first operating position D and the second operating position D in a direction approaching or moving away from the XOY plane.

When the grabbing piece 409 moves from the first working position D to the second working position D, the grabbing piece 409 component approaches to the grabbing rod at the end part of the stretcher and enables the grabbing rod at the end part of the stretcher to be located in the limit groove, so that the purpose of grabbing the stretcher is achieved. When the gripping member 409 moves from the second working position D to the first working position D, the gripping member 409 gradually moves upward or downward away from the gripping bar at the end of the stretcher, thereby achieving the purpose of loosening the stretcher.

Preferably, when the grabbing piece 409 swings reciprocally between the first working position D and the second working position D, one end of the limiting groove, which is far away from the hinge center line of the grabbing piece 409, is provided with a limiting portion, so as to achieve the purpose of preventing the grabbing from being unstable due to the slight swing of the grabbing piece 409, and further achieve the purpose of improving the grabbing effect.

The fifth driving device is arranged at the second end of the telescopic structure, the power output end of the fifth driving device is in transmission connection with the power input end of the grabbing piece 409, and the fifth driving device is used for driving the grabbing piece 409 to reciprocate between a first working position D and a second working position D.

In this embodiment, the first end of the gripping member 409 is hinged to the second end of the telescopic structure, the second end extends in a direction approaching the second end of the bearing assembly, and the second end of the gripping member 409 can swing reciprocally about its own hinge center line between the first working position D and the second working position D. The fifth driving device includes a fifth electric putter 410, where a first end of the fifth electric putter 410 is hinged to a second end of the telescopic structure, and the second end is hinged to the gripping member 409.

Because, when there is only one gripping member 409, if the gripping member 409 is small, the stretcher is easily deflected during pulling and pushing of the stretcher, thereby affecting the entrance and exit of the stretcher into and out of the carrying assembly, the refrigerator, etc., it is necessary to set the gripping member 409 wide enough. Therefore, preferably, the number of the grabbing pieces 409 is two, the two grabbing pieces 409 are symmetrically arranged at two sides of the telescopic structure, the two grabbing pieces 409 are fixedly connected into a whole through the connecting pieces, in this embodiment, the two grabbing pieces 409 are fixedly connected into a whole through a plurality of connecting shafts 412, one of the connecting shafts 412 is rotationally connected with the two telescopic units, so that the purpose that the grabbing pieces 409 are hinged with the telescopic units is achieved, and the second end of the fifth electric push rod 410 is hinged with the other connecting shaft 412 of the plurality of connecting shafts 412. This allows not only the gripping element 409 to be reduced, but also the gripping effect.

In one embodiment, the door opening assembly includes a door opener 501 and a sixth drive mechanism.

The door opener 501 is reciprocally movable between a first operating position E and a second operating position E in a direction approaching or moving away from the XOY plane. Here, the door opener 501 may reciprocate between the first operating position E and the second operating position E in a direction approaching or moving away from the XOY plane, or reciprocate between the first operating position E and the second operating position E in a direction approaching or moving away from the XOZ plane; the device can do reciprocating rectilinear motion between the first working position E and the second working position E in a direction approaching or separating from the XOY plane in an inclined manner, or do reciprocating rectilinear motion between the first working position E and the second working position E in a direction approaching or separating from the XOZ plane in an inclined manner; the device can swing back and forth between the first working position E and the second working position E along the direction approaching or separating from the XOY plane, or swing back and forth between the first working position E and the second working position E along the direction approaching or separating from the XOZ plane; the combined motion of the reciprocating swing motion in the direction approaching or separating from the XOY plane and the reciprocating linear motion in the direction approaching or separating from the XOY plane may be either combined motion of the reciprocating swing motion in the direction approaching or separating from the XOZ plane and the reciprocating linear motion in the direction approaching or separating from the XOZ plane; either moving in a direction toward or away from the XOY plane and then moving in a direction toward or away from the XOZ plane, or moving in a direction toward or away from the XOZ plane and then moving in a direction toward or away from the XOY plane.

The sixth driving mechanism is arranged on the bearing assembly and is used for driving the bearing assembly to reciprocate between a first working position E and a second working position E.

When the cabinet door is used, in the process that the sixth driving mechanism drives the door opening piece 501 to move from the first working position E to the second working position E, the door opening piece 501 is abutted against the door opening rod on one side of the cabinet door, so that the bottom end of the cabinet door swings around the hinging center line of the top end of the cabinet door, and the purpose of opening the cabinet door is achieved. After the door is opened, the sixth driving mechanism drives the door opener 501 to return from the second working position E to the first working position E, thereby returning to the original position.

In one embodiment, the sixth drive mechanism includes a mounting bracket 502 and a sixth power pushrod 503.

The first end of the mounting frame 502 is hinged to the carrier assembly and the second end is reciprocally swingable about its hinge center line between a first working position F and a second working position F. The first end of the sixth electric push rod 503 is hinged to the bearing assembly, the second end of the sixth electric push rod 503 is hinged to the mounting frame 502, and the sixth electric push rod 503 is used for driving the mounting frame 502 to perform reciprocating rectilinear motion between the first working position F and the second working position F. Wherein the door opener 501 is arranged at the second end of the mounting frame 502.

When the cabinet door is used, the sixth electric push rod 503 extends or contracts, so that the purpose of driving the mounting frame 502 to swing back and forth between the first working position F and the second working position F is achieved, and further the purpose of driving the grabbing piece 409 to swing back and forth between the first working position E and the second working position E through the mounting frame 502 is achieved, and the purpose of driving the grabbing piece 409 to open the cabinet door and recovering to the original position after the cabinet door is opened is achieved.

In one embodiment, the door opener 501 is hook-shaped, the door opener 501 is slidably connected to the mounting member, and the door opener 501 can perform reciprocating linear motion between a first working position G and a second working position G along the length direction of the mounting frame 502.

The sixth driving structure further includes a seventh electric putter 504, where the seventh electric putter 504 is fixedly mounted on the mounting rack 502, and a power output shaft of the seventh electric putter 504 is in transmission connection with the door opening member 501, and the seventh electric putter 504 is used to drive the door opening member 501 to perform a reciprocating rectilinear motion between the first working position G and the second working position G.

When the cabinet door opening device is used, in the process of driving the mounting frame 502 to swing in a reciprocating manner through the sixth electric push rod 503, the seventh electric push rod 504 drives the driving grabbing piece 409 to do reciprocating rectilinear motion along the length direction of the mounting frame 502, so that the purpose of driving the grabbing piece 409 to reciprocate between the first working position E and the second working position E is achieved, and the purpose of driving the grabbing piece 409 to open the cabinet door and recovering the cabinet door after the cabinet door is opened is achieved.

In the description of the present utility model, numerous specific details are set forth. However, it is understood that embodiments of the utility model may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model, and are intended to be included within the scope of the appended claims and description.

Claims

1. A grabbing component is arranged on an AGV main body and is characterized by comprising a grabbing mechanism and a third driving mechanism;

2. The grasping assembly according to claim 1, wherein the third driving mechanism comprises:

3. The grasping assembly according to claim 1 or 2, wherein the grasping structure includes:

4. A gripping assembly according to claim 3, wherein the gripping member is hinged at a first end to the second end of the telescopic structure, the second end extending in a direction towards the second end of the carrier assembly, and the second end of the gripping member being reciprocally swingable about its own hinge centre line between the first and second working positions D, D;

5. An AGV cart comprising the gripper assembly of any one of claims 1-4.