CN117584842A - AGV for transfer vehicle - Google Patents

Abstract

The invention relates to the field of AGVs, in particular to an AGV for a transfer vehicle, which comprises a vehicle body, wherein the vehicle body comprises a vehicle frame and two bearing frames, the two bearing frames are oppositely arranged and fixedly connected through the vehicle frame, rollers are arranged at the bottom of each bearing frame, two clamping devices are arranged on one side of each bearing frame, which faces the other bearing frame, the two clamping devices are respectively positioned at the front end and the rear end of each bearing frame, each clamping device comprises two clamping arms rotatably arranged on the bearing frame, a gear is fixedly arranged on each clamping arm and meshed with a rack, the rack is connected with a first electric push rod fixed on the bearing frame, the first electric push rod can drive the clamping arms to rotate through the racks and the gears, and the two clamping arms of the clamping devices can rotate close to or far away from each other under the driving of the respective first electric push rods. The invention has the beneficial effects that the structure is simple, and vehicles can be transported stably.

Description

AGV for transfer vehicles

Technical field

The present invention relates to the field of AGV, and in particular to an AGV for transfer vehicles.

Background technique

With the increasing number of vehicles, there are more and more occasions where vehicles need to be transferred, such as parking lots, vehicle production workshops, etc., where there is a need to transfer vehicles from one location to another. In order to save labor costs, AGVs are now commonly used to transport vehicles.

For example, the invention patent with the publication number CN109941180A discloses an AGV car, which includes a car body. The front and rear ends of the car body are equipped with steering wheels and laser radars. The car body is provided with a front clamping device and a rear clamping device respectively. Both the clamping device and the rear clamping device include two driving arms that can approach and move away from each other in the front and rear direction. The two driving arms are connected to the same driving motor through a transmission mechanism. The left and right ends of each driving arm are hinged with clamping arms. , each clamp arm is slidingly connected to the corresponding first chute, and each first chute is connected to a second chute at one end away from the other first chute, and both the first chute and the second chute are provided On the vehicle body, the bottom of each clamping arm is provided with a first roller and a second roller arranged in the front and rear direction.

The drive arm in this solution cooperates with the chute provided on the vehicle body, and the two drive arms approach each other on the chute and turn to clamp the tire of the vehicle. This movement process is complicated and The clamping arm is moved, clamped and unfolded in the form of a chute, which has low accuracy and low stability. Moreover, the clamping arm on the car body is controlled by multiple motors, resulting in a complex structure of the car body and high cost. It also increases the weight of the car body.

Contents of the invention

In order to solve the technical problem in the prior art that the AGV used for transfer vehicles has a complicated clamping structure, the present invention provides an AGV for transfer vehicles.

In order to achieve the above objects, the technical solutions adopted by the present invention are:

An AGV for transfer vehicles, including a vehicle body. The vehicle body includes a frame and two load-bearing frames. The two load-bearing frames are arranged oppositely and fixedly connected through the frame. Rollers are installed at the bottom of each load-bearing frame. Each load-bearing frame Two clamping devices are provided on the side facing the other load-bearing frame. The two clamping devices are respectively located at the front and rear ends of the load-bearing frame. Each clamping device includes two clamping arms that are rotationally mounted on the load-bearing frame. Each clamping arm is fixed with a gear. The gear meshes with the rack. The rack is connected to the first electric push rod fixed on the load-bearing frame. The first electric push rod can drive the clamping arm to rotate through the rack and gear. , the two clamping arms of the clamping device can rotate toward or away from each other under the driving of their respective first electric push rods.

Using the above structural solution, when the clamping device clamps the wheel, the two clamping arms of the clamping device rotate close to each other driven by the respective first electric push rods until the two clamping arms clamp the wheel. After the four clamping devices have clamped all four wheels of the vehicle to be transferred, the AGV can be moved and the vehicle can be transferred to the destination through the AGV. After that, the two clamping arms of the clamping device are pushed by their respective first electric pushers. The wheels are rotated away from each other under the drive of the rod to release the wheels. After the four clamping devices release all four wheels of the vehicle to be transferred, the AGV can be driven away to complete the transfer of the vehicle. The structure of the invention is simple, and the first electric push rod drives the clamping arm to rotate through the rack and gear. When transferring the vehicle, the clamping device accurately clamps the wheels from the left and right sides of the vehicle respectively. Since the vehicle is in The middle position of the entire AGV allows the AGV to transport the vehicle smoothly during the transfer process.

As a preferred implementation method of AGV for transfer vehicles, a clamping frame is slidably installed on the load-bearing frame in the vertical direction. A screw elevator is fixed on the top of the load-bearing frame. The screw of the screw elevator is fixedly connected to the clamping frame. The lift is driven by a first motor, which is fixedly installed on the load-bearing frame; the clamping arms are rotatably installed on the clamping frame, and the first electric push rod is installed on the clamping frame.

Using the above structural solution, the screw elevator is an existing technology. After the clamping device clamps the wheels of the vehicle to be transferred, the first motor drives the screw elevator to slide the clamping frame upward or downward relative to the load-bearing frame, thereby lifting or Put down the vehicle to be transferred.

As a preferred implementation method of AGV for transfer vehicles, two screw elevators are fixed on the load-bearing frame. The output shaft of the first motor is fixedly connected to the input shaft of the three-axis commutator. The output shafts are respectively fixedly connected to the transmission shafts, and the two transmission shafts are respectively fixedly connected to the worms of the two screw elevators.

Using the above structural solution, the two screw jacks can increase the load-bearing capacity of the clamping frame, allowing the clamping frame to slide up and down more reliably, and the two screw jacks on each load-bearing frame only require one first motor. Driven to reduce weight and reduce costs.

As a preferred implementation method of AGV for transfer vehicles, a mobile frame is installed slidingly in the horizontal direction on the clamping frame. A second motor is fixed on the clamping frame. The output shaft of the second motor is fixedly connected to the transmission screw. The screw is arranged in the horizontal direction, and a nut is threadedly connected to the transmission screw. The nut is fixed on the moving frame. The two clamping devices on the clamping frame are the first clamping device and the second clamping device respectively. The first clamping device The clamping device is arranged on the moving frame. The two clamping arms of the first clamping device are both rotatably mounted on the moving frame. The two first electric push rods that drive the two clamping arms of the first clamping device to rotate are both Fixed installation on mobile frame.

Using the above structural solution, the second motor drives the mobile frame to slide in the horizontal direction relative to the clamping frame through the transmission screw. When sliding, the mobile frame can drive the first clamping device and the two clamping arms that drive the first clamping device. The first electric push rod slides synchronously to adjust the distance between the first clamping device and the second clamping device, so that the application can be suitable for transporting vehicles to be transported with different wheelbase sizes.

As a preferred implementation method of AGV for transfer vehicles, a second electric push rod is fixed on the clamping frame, the second electric push rod is located above the second clamping device, and the second electric push rod is fixedly connected to the pressure plate. The pressure plate is located between the two clamping frames.

Using the above structural solution, after the clamping device clamps the wheel of the vehicle to be transferred, the second electric push rod extends the pressure plate until the pressure plate contacts the outer side of the wheel, thereby clamping the vehicle more firmly.

As a preferred implementation method of AGV for transfer vehicles, two first vertical axes are fixedly provided on the mobile frame, and the two clamping arms of the first clamping device are respectively mounted on the two first vertical shafts through first bearings. on axis.

Using the above structural solution, the first bearing provides support for the rotation of the two clamping arms of the first clamping device, so that the two clamping arms of the first clamping device can rotate more smoothly.

As a preferred implementation method of AGV for transfer vehicles, two second vertical axes are fixedly provided on the clamping frame, and the two clamping arms of the second clamping device are respectively mounted on the two second second bearings for rotation. on the vertical axis.

Using the above structural solution, the second bearing provides support for the rotation of the two clamping arms of the second clamping device, so that the two clamping arms of the second clamping device can rotate more smoothly.

As a preferred implementation method of AGV for transfer vehicles, the clamping frame is fixed with a first slide rail arranged in the horizontal direction, and the moving frame is fixed with a first slide block used in conjunction with the first slide rail. A slide block is slidably installed on the first slide rail.

Using the above structural solution, the first slide rail and the first slide block are used together to guide the horizontal movement of the mobile frame, which can make the mobile frame move more smoothly, thereby smoothly transferring the vehicle.

As a preferred implementation method of AGV for transfer vehicles, a second slide rail arranged vertically is fixed on the load-bearing frame, and a second slide block used in conjunction with the second slide rail is fixed on the clamping frame. The two slide blocks are slidably installed on the second slide rail.

Using the above structural solution, the second slide rail and the second slide block are used together to provide a guiding function for the movement of the clamping frame in the vertical direction, which can make the clamping frame move more smoothly, thereby smoothly transferring the vehicle.

As a preferred implementation method of AGV for transfer vehicles, the rack is slidably installed on the load-bearing frame in the horizontal direction. The load-bearing frame is provided with a third slide rail arranged in the horizontal direction. The rack is fixedly provided with the third slide rail. The third slide block is used in conjunction with the third slide rail, and the third slide block is slidably installed on the third slide rail.

Adopting the above structural solution can make the rack move more smoothly.

The beneficial effects of the present invention are:

When the AGV for transfer vehicles of the present invention is in use, the vehicle body is driven to the vehicle to be transferred through rollers, so that the vehicle to be transferred is located between two load-bearing frames, that is, the two load-bearing frames are located on the left side of the vehicle to be transferred. and the right side. The two clamping devices on the load-bearing frame on the left are used to clamp the left front wheel and the left rear wheel of the vehicle to be transferred. The two clamping devices on the load-bearing frame on the right are used to clamp respectively. Clamp the right front wheel and the right rear wheel of the vehicle to be transferred. When the clamping device clamps the wheels, the two clamping arms of the clamping device rotate close to each other driven by their respective first electric push rods until the two clamping arms rotate closer to each other. A clamping arm clamps the wheel. After the four clamping devices clamp all four wheels of the vehicle to be transferred, the AGV can be moved and the vehicle can be transferred to the destination through the AGV. After that, the two clamping devices The clamping arms rotate away from each other under the drive of their respective first electric push rods to release the wheels. After the four clamping devices release all four wheels of the vehicle to be transferred, the AGV can be driven away, thereby completing the vehicle transfer work.

It can be seen that the structure of the present invention is simple, and the first electric push rod drives the clamping arm to rotate through the rack and gear. When transferring the vehicle, the clamping device accurately clamps the wheels from the left and right sides of the vehicle respectively. Since the vehicle is in the middle of the entire AGV, the AGV can transport the vehicle smoothly during the transfer process.

Description of drawings

In order to explain the technical solution of the present invention more clearly, the drawings required for the description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, As far as workers are concerned, other drawings can also be obtained based on these drawings without exerting creative work.

Figure 1 is a front view of an AGV for transfer vehicles in a specific embodiment of the present invention;

Figure 2 is a top view of the AGV for transfer vehicles in a specific embodiment of the present invention;

Figure 3 is a left view of the AGV for transfer vehicles in a specific embodiment of the present invention;

Figure 4 is a right view of the AGV for transfer vehicles in a specific embodiment of the present invention;

Figure 5 is a perspective view of the AGV for transfer vehicles in a specific embodiment of the present invention;

Figure 6 is a second perspective view of the AGV for transfer vehicles in a specific embodiment of the present invention;

Figure 7 is a perspective view of the AGV used for transport vehicles in a specific embodiment of the present invention after hiding the vehicle body;

Figure 8 is a top view of the AGV used for transfer vehicles in a specific embodiment of the present invention after hiding the vehicle body;

Figure 9 is a perspective view of the clamping frame in a specific embodiment of the present invention;

Figure 10 is a partial enlarged view of position A in Figure 9;

Figure 11 is a partial enlarged view of B in Figure 9;

Figure 12 is a second perspective view of the clamping frame in a specific embodiment of the present invention;

Figure 13 is a partial enlarged view of C in Figure 12;

Figure 14 is a partial enlarged view of D in Figure 12;

Figure 15 is a third perspective view of the clamping frame in a specific embodiment of the present invention;

Figure 16 is a perspective view of the mobile frame in a specific embodiment of the present invention;

Figure 17 is a second perspective view of the mobile frame in a specific embodiment of the present invention;

Figure 18 is a third perspective view of the mobile frame in a specific embodiment of the present invention;

Figure 19 is a perspective view of the clamping device in a specific embodiment of the present invention;

Figure 20 is a second perspective view of the clamping device in a specific embodiment of the present invention;

Figure 21 is a third perspective view of the clamping device in a specific embodiment of the present invention.

Explanation of reference symbols:

1. Frame; 2. Roller; 3. Loading frame; 4. Second clamping device; 5. Pressure plate; 6. First clamping device; 7. Second electric push rod; 8. Screw elevator; 9. Two slide blocks; 10. Second slide rail; 11. Drive shaft; 12. First motor; 13. Three-axis commutator; 14. Clamping frame; 15. Moving frame; 16. First electric push rod; 17 , Vertical push-pull plate; 18. Third slide rail; 19. Third slide block; 20. Horizontal support plate; 21. Rack; 22. Gear; 23. Second vertical axis; 24. Clamping arm; 25. The second motor; 26, the first slide rail; 27, the first vertical shaft; 28, the first slide block; 29, the transmission screw; 30, the nut.

Detailed ways

In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions in the present invention will be clearly and completely described below in conjunction with the drawings in this specific embodiment. Obviously, the implementation described below The examples are only some, but not all, of the embodiments of the present invention. Based on the embodiments in this patent, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this patent.

As shown in Figure 1 and combined with Figures 2-21, this embodiment proposes an AGV for transfer vehicles, which includes a vehicle body. The vehicle body includes a frame 1 and two load-bearing frames 3. The two load-bearing frames 3 are arranged oppositely. And it is fixedly connected through the vehicle frame 1, which is fixedly connected above the two load-bearing frames 3. A space for accommodating the vehicle to be transferred is formed between the vehicle frame 1 and the two load-bearing frames 3. Rollers 2 are installed on each load-bearing frame 3, and the AGV moves through the rollers 2. Each load-bearing frame 3 is provided with two clamping devices, and the clamping devices are located between the two load-bearing frames 3 . The clamping device includes two clamping arms 24 that are both rotatably mounted on the load-bearing frame 3. A gear 22 is fixed on the clamping arms 24, and the gear 22 meshes with a rack 21. The first electric push rod 16 is connected. The first electric push rod 16 can drive the clamping arm 24 to rotate through the rack 21 and the gear 22. The two clamping arms 24 of the clamping device are driven by the respective first electric push rods 16. Able to rotate toward or away from each other in the horizontal direction.

As shown in Figures 19-21, for a clamping device, two clamping arms 24 are arranged in one-to-one correspondence with two first electric push rods 16, and each clamping arm 24 is pushed by the corresponding first electric push rod. The rod 16 is driven, that is, the gear 22 is fixed on the clamping arm 24, the first electric push rod 16 corresponding to the clamping arm 24 is connected to the rack 21, and the rack 21 meshes with the gear 22, so that the first The electric push rod 16 is arranged in the horizontal direction, so that when the first electric push rod 16 telescopes, the rack 21 moves in the horizontal direction. Since the gear 22 fixed on the clamping arm 24 meshes with the rack 21, the clamping arm 24 Turn horizontally.

In this embodiment, for a clamping device, its two first electric push rods 16 are arranged oppositely. When the two first electric push rods 16 extend, the two racks 21 move closer to each other. Then the two clamping arms 24 rotate away from each other, and the two clamping arms 24 open (at this time, the two clamping arms 24 are arranged in a "one" shape); when the two first electric push rods 16 retract , the two racks 21 move away from each other, so the two clamping arms 24 rotate toward each other, and the two clamping arms 24 are closed (at this time, the two clamping arms 24 are parallel to each other).

In order to make the rack 21 move more smoothly, in the AGV for transfer vehicles in this embodiment, the rack 21 is slidably installed on the load-bearing frame 3 in the horizontal direction, and the load-bearing frame 3 is provided with a third slide rail arranged in the horizontal direction. 18. The rack 21 is fixed with a third slide block 19 used in conjunction with the third slide rail 18 , and the third slide block 19 is slidably installed on the third slide rail 18 . For a clamping device, only one third slide rail 18 is provided, and two racks 21 are respectively slidably installed on the third slide rail 18 through the third slide block 19. Specifically, the two racks 21 are respectively fixedly installed. On the two horizontal support plates 20, third sliders 19 are respectively fixed on the bottoms of the two horizontal support plates 20, and vertical push-pull plates 17 are fixed on the tops of the two horizontal support plates 20. The plate 17 is fixedly connected to the two first electric push rods 16 respectively. The first electric push rod 16 can push/pull the vertical push-pull plate 17 , the rack 21 , the horizontal support plate 20 and the third slide block 19 to slide along the third slide rail 18 as a whole. When the two first electric push rods 16 extend, the first electric push rods 16 push the vertical push-pull plate 17, the rack 21, the horizontal support plate 20 and the third slide block 19 to slide together along the third slide rail 18, As a result, the two racks 21 move closer to each other. Since the two racks 21 mesh with the two gears 22 respectively, the two clamping arms 24 rotate away from each other, and the two clamping arms 24 open; When the first electric push rod 16 retracts, the first electric push rod 16 pulls the vertical push-pull plate 17, the rack 21, the horizontal support plate 20 and the third slide block 19 to slide along the third slide rail 18, so the two The two racks 21 move away from each other. Since the two racks 21 mesh with the two gears 22 respectively, the two clamping arms 24 rotate closer to each other, and the two clamping arms 24 are closed.

In this embodiment, two clamping arms 24, two gears 22, two racks 21, two horizontal support plates 20, two vertical push-pull plates 17, two first electric push rods 16, two The third slide block 19 and a third slide rail 18 together form a clamping device.

As shown in Figure 7-15, in the AGV for transfer vehicles in this embodiment, a clamping frame 14 is installed vertically slidingly on the load-bearing frame 3, and a screw elevator 8 is fixed on the load-bearing frame 3. The lead screw of the screw elevator 8 Fixedly connected to the clamping frame 14, the screw jack 8 is driven by the first motor 12. When the first motor 12 drives the screw jack 8, the screw of the screw jack 8 drives the clamping frame 14 to slide vertically along the load-bearing frame 3. The clamping frame 14 is provided with two clamping devices. The two clamping arms 24 of the clamping devices are both rotatably mounted on the clamping frame 14 . The first electric push rod 16 is provided on the clamping frame 14 .

So to speak, the two clamping devices are arranged on the support frame 3 via the clamping frame 14 . For each clamping device, all the components it includes (i.e., two clamping arms 24, two gears 22, two racks 21, two horizontal support plates 20, two vertical push-pull plates 17 , two first electric push rods 16, two third slide blocks 19 and a third slide rail 18) are all provided on the clamping frame 14, wherein the third slide rail 18 is slidably arranged in the clamping frame 14 along the horizontal direction. on frame 14.

In the AGV for transfer vehicles of this embodiment, two screw elevators 8 are fixedly provided on the load-bearing frame 3. The output shaft of the first motor 12 is fixedly connected to the input shaft of the three-axis commutator 13. The two output shafts are respectively fixedly connected to the transmission shafts 11 , and the two transmission shafts 11 are respectively fixedly connected to the worms of the two screw jacks 8 .

The three-axis commutator 13 is an existing technology. One end of the two transmission shafts 11 is fixedly connected to the two output shafts of the three-axis commutator 13, and the other end of the two transmission shafts 11 is respectively connected to the two output shafts of the two screw elevators 8. Worm screw fixed connection. In this way, the first motor 12 can drive the two screw elevators 8 at the same time through the three-axis commutator 13 and the two transmission shafts 11, that is, the screws of the two screw elevators 8 can move upward at the same time. At this time, the screws drive the clamping The frame 14 slides upward along the load-bearing frame 3 , or the screws of the two screw jacks 8 can move downward at the same time. At this time, the screw drives the clamping frame 14 to slide downward along the load-bearing frame 3 . It can be said that the first motor 12 can drive the clamping frame 14 to slide upward or downward along the carrying frame 3 .

For each clamping frame 14, after the clamping device on the clamping frame 14 clamps the wheel of the vehicle to be transferred (at this time, the two clamping arms 24 of the clamping device are in a closed state), through the first The motor 12 drives the two screw elevators 8 to move, so that the screws of the two screw elevators 8 drive the clamping frame 14 to slide upward along the load-bearing frame 3, so that the vehicle is lifted upward and out of contact with the ground, and then the vehicle can be transported by AGV. After arriving at the destination, the first motor 12 drives the two screw elevators 8 to move in reverse, so that the screws of the two screw elevators 8 drive the clamping frame 14 to slide downward along the load-bearing frame 3 until the wheels of the vehicle are in contact with the ground. touch. Then let the two clamping arms 24 of the clamping device open to release the wheels, and finally drive the AGV away to transfer the next vehicle.

The screw jack 8 is an existing technology and is composed of a worm gear, a box, a bearing, a lead screw and other components. The working principle is: the motor or manual drives the worm to rotate, and the worm drives the worm gear to decelerate and rotate. The inner cavity of the worm gear is processed into an internal thread and is connected to the screw thread, so that when the worm gear rotates, the screw can move up and down.

As shown in Figures 7 and 9-18, in the AGV for transfer vehicles of this embodiment, a mobile frame 15 is installed slidingly in the horizontal direction on the clamping frame 14, and a second motor 25 is fixed on the clamping frame 14. The output shaft of the motor 25 is fixedly connected to the transmission screw 29 , which is arranged in the horizontal direction. The transmission screw 29 is threaded with a nut 30 , and the nut 30 is fixed on the moving frame 15 . When the second motor 25 drives the transmission screw 29 to rotate, since the nut 30 is fixed on the moving frame 15 and the moving frame 15 is slidably mounted on the clamping frame 14 , the nut 30 will not rotate together with the transmission screw 29 , but can only move axially along the transmission screw 29 (that is, move in the horizontal direction), so that the mobile frame 15 can move along the horizontal direction with the nut 30 .

The two clamping devices on the clamping frame 14 are respectively the first clamping device 6 and the second clamping device 4. The first clamping device 6 is provided on the moving frame 15. The two clamping devices of the first clamping device 6 The holding arms 24 are all rotatably mounted on the moving frame 15 , and the two first electric push rods 16 that drive the two clamping arms 24 of the first clamping device 6 to rotate are provided on the moving frame 15 . All components of the first clamping device 6 (i.e., two clamping arms 24, two gears 22, two racks 21, two horizontal support plates 20, two vertical push-pull plates 17, two first electric The push rod 16, two third slide blocks 19 and one third slide rail 18) are all provided on the moving frame 15, where the third slide rail 18 is arranged on the moving frame 15 along the horizontal direction. It can be said that the first clamping device 6 is arranged on the clamping frame 14 via the moving frame 15 .

When the second motor 25 drives the moving frame 15 to slide in the horizontal direction along the clamping frame 14 through the transmission screw 29 and the nut 30, the first clamping device 6 is caused to move closer to or away from the second clamping device 4, so that , when the transfer vehicle of this embodiment uses the AGV to clamp the vehicle to be transferred, the distance between the first clamping device 6 and the second clamping device 4 can be adjusted according to the wheelbase of the vehicle to facilitate clamping of the vehicle. hold.

As shown in Figure 2-15, in the AGV for transfer vehicles of this embodiment, a second electric push rod 7 is fixed on the clamping frame 14, and the second electric push rod 7 is located above the second clamping device 4. Two electric push rods 7 are fixedly connected to a pressure plate 5 , and the pressure plate 5 is located between the two clamping frames 14 . After the clamping device in this embodiment clamps the wheel of the vehicle to be transferred, the second electric push rod 7 is used to extend the pressure plate 5 until the pressure plate 5 abuts the outer surface of the wheel clamped by the second clamping device 4 In this way, through the relative clamping of the pressure plates 5 on the two clamping frames 14, this embodiment can clamp the vehicle more firmly. Since the second electric push rod 7 is fixed on the clamping frame 14, when the clamping frame 14 slides vertically along the load-bearing frame 3, the second electric push rod 7 and the pressure plate 5 slide together with the clamping frame 14.

As shown in Figures 16-18, in the AGV for transfer vehicles of this embodiment, the two clamping arms 24 of the first clamping device 6 are both rotatably installed on the mobile frame 15. The specific method is: a fixed device on the mobile frame 15 There are two first vertical shafts 27, and the two clamping arms 24 of the first clamping device 6 are respectively rotatably mounted on the two first vertical shafts 27 through first bearings.

As shown in Figures 9-15, in the AGV for transfer vehicles of this embodiment, two second vertical shafts 23 are fixed on the clamping frame 14, and the two clamping arms 24 of the second clamping device 4 respectively pass through the second vertical shaft 23. The two bearings are rotatably mounted on the two second vertical shafts 23.

As shown in Figure 9, combined with Figures 10-18, in the AGV for transfer vehicles of this embodiment, the mobile frame 15 is slidably installed on the clamping frame 14 in the horizontal direction. The specific method is: the clamping frame 14 is fixed on There is a first slide rail 26 arranged in the horizontal direction. A first slide block 28 used in conjunction with the first slide rail 26 is fixed on the mobile frame 15 . The first slide block 28 is slidably installed on the first slide rail 26 . In this way, the moving frame 15 slides in the horizontal direction along the clamping frame 14 through the first slide block 28 and the first slide rail 26 .

As shown in Figure 5 and combined with Figure 6-15, the AGV for transfer vehicles in this embodiment has a clamping frame 14 slidably installed on the load-bearing frame 3 in a specific manner: the load-bearing frame 3 is fixed with a clamping frame 14. The second slide rail 10 is arranged vertically, and the second slide block 9 used in conjunction with the second slide rail 10 is fixed on the clamping frame 14. The second slide block 9 is slidably installed on the second slide rail 10. In this way, the clamping frame 14 can slide vertically along the load-bearing frame 3 through the second slide block 9 and the second slide rail 10 .

When the AGV for transfer vehicles in this embodiment is used, the vehicle body is driven to the vehicle to be transferred through the rollers 2, so that the vehicle to be transferred is located between the two load-bearing frames 3, that is, the two load-bearing frames 3 are respectively located between the two load-bearing frames 3. On the left and right sides of the transfer vehicle, the two clamping devices on the load-bearing frame 3 on the left are used to clamp the left front wheel and left rear wheel of the vehicle to be transferred respectively, and the two clamping devices on the load-bearing frame 3 on the right The two clamping devices are respectively used to clamp the right front wheel and right rear wheel of the vehicle to be transferred. Before the clamping device clamps the wheel, the two clamping arms 24 of the clamping device are in an open state, and then the first motor 12 drives the clamping frame 14 to slide upward or downward along the load-bearing frame 3 to meet the requirements. The height of the vehicle is clamped, and then the second motor 25 is used to drive the mobile frame 15 to slide along the clamping frame 14 in the horizontal direction, so that the first clamping device 6 and the second clamping device 6 on the same carrying frame 3 The distance between the devices 4 meets the wheelbase size of the vehicle to be transferred, and then the two first electric push rods 16 in the clamping device are operated to allow the two clamping arms 24 of the clamping device to rotate closer to each other. Until the two clamping arms 24 are closed, the wheel is clamped between the two clamping arms 24. After the four clamping devices have clamped all four wheels of the vehicle to be transferred, the second electric pusher The rod 7 extends to press the pressure plate 5 against the outer surface of the wheel, and then the first motor 12 drives the clamping frame 14 to slide upward along the load-bearing frame 3, so that the vehicle to be transferred also moves upward along with the clamping frame 14. , until the vehicle is off the ground, then the AGV can be moved, and the vehicle can be transferred to the destination through the AGV. Then, the first motor 12 is used to drive the clamping frame 14 to slide downward along the load-bearing frame 3 again, so the vehicle also follows the clamping frame. 14 move downward together until the wheels of the vehicle are in contact with the ground again, and then the two clamping arms 24 of the clamping device rotate away from each other driven by their respective first electric push rods 16 to release the wheels. After the holding device releases all four wheels of the vehicle to be transferred (at this time, the two clamping arms 24 of the holding device are in an open state), then the second electric push rod 7 is retracted to separate the pressure plate 5 from the wheels. , and finally drive the AGV away to complete the transfer of the vehicle. It can be seen that the structure of this embodiment is simple, and the first electric push rod 16 drives the clamping arm 24 to rotate through the rack 21 and the gear 22. When transferring the vehicle, the clamping device accurately moves from the left and right sides of the vehicle respectively. The wheels are groundly clamped. Since the vehicle is in the middle of the entire AGV, the AGV can transport the vehicle smoothly during the transfer process.

It should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "back", "left", "right", "middle", etc. are based on those shown in the accompanying drawings. The orientation or positional relationship is only to facilitate the description of this embodiment and simplify the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of this embodiment. limits.

In the description of the present invention, it should be noted that, unless otherwise clearly stated and limited, the terms "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. Ground connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.

The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be practiced in other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The utility model provides a AGV for transfer vehicle, which comprises a carriage body, a serial communication port, the automobile body includes frame (1) and two carrier frame (3), two carrier frame (3) relative arrangement and through frame (1) fixed connection, gyro wheel (2) are all installed to the bottom of every carrier frame (3), one side that every carrier frame (3) was towards another carrier frame (3) all is equipped with two clamping device, two clamping device are located the front and back both ends of carrier frame (3) respectively, every clamping device all includes two clamping arms (24) of rotating installing at carrier frame (3), all be fixed on every clamping arm (24) and be equipped with gear (22), gear (22) and rack (21) meshing, rack (21) are connected with first electric putter (16) of fixing on carrier frame (3), first electric putter (16) can drive clamping arm (24) through rack (21) and gear (22), two clamping arms (24) of clamping device can do the rotation that is close to each other or keep away from under the drive of respective first electric putter (16).

2. The AGV for a transfer vehicle according to claim 1 wherein a holding frame (14) is slidably mounted on the carrying frame (3) in a vertical direction, a screw lifter (8) is fixedly provided at the top of the carrying frame (3), a screw of the screw lifter (8) is fixedly connected with the holding frame (14), the screw lifter (8) is driven by a first motor (12), and the first motor (12) is fixedly mounted on the carrying frame (3); the clamping arms (24) are rotatably mounted on the clamping frame (14), and the first electric push rod (16) is mounted on the clamping frame (14).

3. AGV for transfer vehicles according to claim 2, characterized in that the screw elevators (8) are provided with two, the output shaft of the first motor (12) is fixedly connected with the input shaft of the three-shaft reverser (13), the two output shafts of the three-shaft reverser (13) are respectively fixedly connected with the transmission shafts (11), and the two transmission shafts (11) are respectively fixedly connected with the worms of the two screw elevators (8).

4. The AGV for a transfer vehicle according to claim 2, wherein the holding frame (14) is slidably provided with a moving frame (15) along a horizontal direction, a second motor (25) is fixedly arranged on the holding frame (14), an output shaft of the second motor (25) is fixedly connected with a transmission screw (29), the transmission screw (29) is arranged along the horizontal direction, a nut (30) is screwed on the transmission screw (29), the nut (30) is fixedly arranged on the moving frame (15), two holding devices on the holding frame (14) are respectively a first holding device (6) and a second holding device (4), the first holding device (6) is arranged on the moving frame (15), two holding arms (24) of the first holding device (6) are rotatably arranged on the moving frame (15), and two first electric push rods (16) for driving the two holding arms (24) of the first holding device (6) to rotate are fixedly arranged on the moving frame (15).

5. The AGV for a transport vehicle according to claim 4 wherein a second electric push rod (7) is fixedly arranged on the clamping frame (14), the second electric push rod (7) is located above the second clamping device (4), the second electric push rod (7) is fixedly connected with the pressing plate (5), and the pressing plate (5) is located between the two clamping frames (14).

6. AGV for transport vehicles according to claim 4 characterized in that the moving frame (15) is fixedly provided with two first vertical shafts (27), and the two gripping arms (24) of the first gripping device (6) are rotatably mounted on the two first vertical shafts (27) by means of first bearings, respectively.

7. AGV for transport vehicles according to claim 4 characterized in that the gripping frame (14) is fixedly provided with two second vertical shafts (23), and that the two gripping arms (24) of the second gripping device (4) are mounted on the two second vertical shafts (23) by means of a second bearing rotation, respectively.

8. The AGV for a transport vehicle according to claim 4, wherein a first slide rail (26) disposed in a horizontal direction is fixedly provided on the gripping frame (14), a first slider (28) for cooperation with the first slide rail (26) is fixedly provided on the moving frame (15), and the first slider (28) is slidably mounted on the first slide rail (26).

9. AGV according to claim 2 characterized in that the carrier frame (3) is fixedly provided with a second slide rail (10) arranged vertically, the clamping frame (14) is fixedly provided with a second slide block (9) cooperating with the second slide rail (10), and the second slide block (9) is slidably mounted on the second slide rail (10).

10. The AGV for a transfer vehicle according to claim 1 wherein the rack (21) is slidably mounted on the carrying frame (3) in a horizontal direction, a third slide rail (18) arranged in the horizontal direction is provided on the carrying frame (3), a third slide block (19) used in cooperation with the third slide rail (18) is fixedly provided on the rack (21), and the third slide block (19) is slidably mounted on the third slide rail (18).