Intelligent AGV system for machining assembly type steel structure

Abstract

The invention relates to an intelligent AGV (automatic guided vehicle) system for processing an assembled steel structure, belongs to the technical field of AGV guide vehicles, and aims to solve the problems that the steel structure is damaged, workers are injured, surrounding substances are smashed and noise is caused as the steel structure is inclined and falls off when the steel structure is transported to turn, the intelligent AGV system comprises an I-shaped track, an AGV guide vehicle, a control module and a sensing module, a limiting assembly is installed on the AGV guide vehicle, a steel structure containing table is fixedly connected to the AGV guide vehicle, a first dragging and lifting assembly is installed on the steel structure containing table, a second dragging and lifting assembly is installed on the steel structure containing table, and a bearing assembly is installed on the AGV guide vehicle. Inclination and damage of the AGV body caused by falling of the steel structure are effectively prevented, noise pollution possibly caused by falling of the steel structure is effectively reduced, the probability of occurrence of serious safety accidents such as crushing of workers and smashing of surrounding objects is effectively reduced, and safety guarantee is provided for field personnel and equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV guiding vehicles, and particularly to an intelligent AGV system for prefabricated steel structure processing. Background Technique

[0002] The components of prefabricated steel structure buildings are usually prefabricated and produced in factories. After production, they are transported to the assembly workshop for assembly operations. In the entire processing process of prefabricated steel structures, the transportation of materials and the distribution of components are key links, directly affecting the production efficiency and product quality. Therefore, when implementing assembly processing on steel structures, AGV guiding vehicles have become indispensable important equipment.

[0003] Currently, most AGV guiding vehicles on the market mainly perform material transportation work between specific positions. However, in the actual scenario of using AGV guiding vehicles to transport steel structures, there are many problems. On the one hand, the center of gravity of the steel structure itself is relatively high, and when the AGV guiding vehicle turns, it will inevitably be affected by the centrifugal force. On the other hand, when the staff binds the steel structure, it may not be firmly tied due to improper operation or other reasons. These factors combined can easily cause the steel structure to tilt or even fall during the turning process of the AGV guiding vehicle. Once the steel structure falls, it will not only cause serious damage to itself, increasing the risk of production costs and project delays, but may also cause accidental injuries to the surrounding staff, and even damage nearby equipment and other substances, reducing the use effect and safety of the AGV guiding vehicle.

[0004] In view of the above problems, an intelligent AGV system for prefabricated steel structure processing is proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide an intelligent AGV system for prefabricated steel structure processing. By using this device for work, the problems in the above background that the steel structure will tilt and fall when turning during the transportation of the steel structure, thereby causing damage to the steel structure itself, injuring the staff, damaging the surrounding substances, and generating noise are solved.

[0006] To achieve the above purpose, the present invention provides the following technical solution: An intelligent AGV system for prefabricated steel structure processing, including an I-shaped track, an AGV guiding vehicle, a control module, and an induction module. A limiting component is installed on the AGV guiding vehicle. The limiting component includes a support plate fixed on the AGV guiding vehicle. A double-axis electric push rod is fixedly connected to the support plate. The output end of the double-axis electric push rod is fixedly connected to a telescopic rod. A limiting claw is fixedly connected to the side of the telescopic rod end. A steel structure placement platform is fixedly connected to the AGV guiding vehicle. A first dragging and lifting assembly is installed on the steel structure placement platform. The first dragging and lifting assembly includes columns symmetrically and fixedly connected to the steel structure placement platform. A rotating rod is rotatably connected to the columns. A first guardrail is fixedly sleeved on the rotating rod. A second dragging and lifting assembly is installed on the steel structure placement platform. The second dragging and lifting assembly includes a rotating rod rotatably connected to the steel structure placement platform. A second guardrail is fixedly sleeved on the rotating rod. A rope is connected and installed between the first guardrail and the second guardrail; The control module includes a display installed on the AGV guiding vehicle, and buttons are installed on the AGV guiding vehicle; The induction module includes an infrared transmitter installed on the side wall of one of the columns, and an infrared receiver is installed on the side wall of the other column; A supporting assembly is installed on the AGV guiding vehicle. The supporting assembly includes a base fixedly connected to the side wall of the AGV. A hydraulic oil storage tank is fixedly connected inside the base. A hydraulic oil pipe is communicated with the side wall of the hydraulic oil storage pipe. A hydraulic column is slidably connected inside the hydraulic oil pipe. A connecting plate is fixedly connected to the end side of the hydraulic column. A supporting bracket is fixedly connected to the side wall of the connecting plate.

[0007] Further, the I-shaped track is arranged in an I-shaped shape, and its two sides are arranged in a concave shape. The limiting claws are at the same horizontal plane as the concave positions of the I-shaped track.

[0008] Further, a first gear is fixedly sleeved on the rotating rod. A limiting block is fixedly connected to the steel structure placement platform. A bidirectional toothed plate is slidably connected inside the limiting block. The bidirectional toothed plate is provided with a plurality of teeth that are symmetric and staggered in position. The part of the bidirectional toothed plate with teeth facing upward meshes with the first gear.

[0009] Further, a first support is fixedly connected to the AGV guiding vehicle. A first motor is fixedly connected to the first support. A first transmission shaft is fixedly connected to the output end of the first motor. A first limiting plate is fixedly connected to the first transmission shaft. There are two second limiting plates symmetrically arranged. A first compression spring is installed between the two limiting plates. One end of the first compression spring is fixedly connected to a claw, and the other end of the first compression spring is fixedly connected to the transmission shaft.

[0010] Further, a first collar is fixedly connected to the side wall of the first gear. A plurality of first helical teeth are fixed on the inner wall of the first collar. The first helical teeth are clamped with the first claw.

[0011] Further, a second gear is fixedly sleeved on the rotating rod. A second collar is fixedly connected to the side wall of the second gear. A plurality of second helical teeth are fixed on the inner wall of the second collar.

[0012] Further, the part of the double-sided toothed plate with teeth facing upward meshes with the second gear.

[0013] Further, a second support is fixedly connected to the AGV guide vehicle, a second motor is fixedly connected to the second support, an output end of the second motor is fixedly connected to a second transmission shaft, a second limit plate is fixedly connected to the second transmission shaft, a second compression spring is installed in the second limit plate, one end of the second compression spring is fixedly connected to a second claw, and the other end of the second compression spring is fixedly connected to the second transmission shaft.

[0014] Further, a first contact plate is fixed to a side wall of the first guardrail, and a second contact plate is fixed to a side wall of the second guardrail.

[0015] Further, a sliding rod penetrates and slides inside the top of the hydraulic oil storage pipe, a notch is formed on a top surface of the sliding rod, a piston is fixedly connected to a bottom of the sliding rod, a first spring is sleeved outside the sliding rod, two ends of the first spring are respectively fixedly connected to an inner top wall of the hydraulic oil storage tank and a top surface of the piston, a sealing gasket is installed at an end of the hydraulic oil pipe, a second spring is sleeved on the hydraulic column, two ends of the second spring are respectively fixedly connected to the connecting plate and the sealing gasket, the hydraulic column is slidably connected to the sealing gasket, a concave limiting seat is fixedly connected to the AGV guide vehicle, a groove is formed on a bottom surface of the bearing bracket, the bearing bracket is in sliding fit with a top surface of the concave limiting seat, a rotating shaft is fixed in the groove, a torsion spring is sleeved outside the rotating shaft, a support leg is rotatably sleeved on the rotating shaft, the support leg is elastically connected to a side wall of the groove through the torsion spring, and a stop block is fixedly connected in the groove.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: It can accurately judge whether the steel structure is tilted or even at risk of falling, and then brake the AGV guided vehicle, effectively preventing the AGV guided vehicle body from tilting and being damaged due to the tipping of the steel structure, improving the safety and service life of the equipment, and avoiding the situation where the steel structure falls and injures the staff and damages the surrounding materials, thus ensuring the safety of the personnel in the workplace and the integrity of the facilities; through the synergistic effect of the first guardrail, the second guardrail and the rope, when the steel structure tilts for various reasons, it can be restricted to a certain position to prevent it from falling, thus solving the problem of the AGV guided vehicle turning. When bending, the steel structure will tilt and fall due to its own gravity, centrifugal force and loose binding, which reduces the damage caused by the falling of the steel structure; when the first and second guardrails cannot intercept the steel structure and the rope breaks, the supporting frame, support legs and other devices can respond quickly, allowing the supporting frame to slide outward and the support legs to rotate to be perpendicular to the ground, firmly supporting the steel structure and preventing it from falling to the ground, effectively reducing the noise pollution that may be caused by the falling of the steel structure, as well as the probability of serious safety accidents such as injuring staff and damaging surrounding objects, providing safety protection for on-site personnel and equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the system flow structure of the present invention; Figure 2 It is a schematic diagram of the overall structure of the present invention; Figure 3 This is a schematic diagram of the structure of the AGV guided vehicle of the present invention; Figure 4 This is a schematic diagram of the structure of the AGV guided vehicle of the present invention; Figure 5 It is a schematic structural diagram of the first towing and lifting assembly and the second towing and lifting assembly of the present invention; Figure 6 It is a schematic structural diagram of the first towing and lifting assembly and the second towing and lifting assembly of the present invention; Figure 7 For the present invention Figure 6 The enlarged structural diagram at A in the middle; Figure 8 For the present invention Figure 6 The enlarged structural diagram at B in the middle; Figure 9 It is a schematic diagram of the supporting assembly structure of the present invention; Figure 10 It is a schematic diagram of the separation structure of the supporting assembly components of the present invention; Figure 11 It is a schematic diagram of the structure of the piston, sliding rod and other components of the present invention; Figure 12 It is a schematic diagram of the supporting frame structure of the present invention; Figure 13 It is a bottom view structural schematic diagram of the support frame of the present invention; Figure 14 For the present invention Figure 13 isometric structure schematic diagram; Figure 15 is a schematic diagram of the internal components structure of the groove of the present invention.

[0018] In the figure: 1, I-shaped track; 2, AGV guiding vehicle; 3, control module; 31, display; 32, button; 4, limiting component; 41, support plate; 42, double-axis electric push rod; 43, telescopic rod; 44, limiting claw; 5, steel structure placement table; 6, induction module; 61, infrared transmitter; 62, infrared receiver; 7, first lifting component; 71, pillar; 72, rotating rod; 721, first support; 722, first motor; 723, first transmission shaft; 724, first limiting plate; 725, first compression spring; 726, first claw; 73, first guardrail; 74, first gear; 75, first collar; 76, first helical tooth; 77, limiting block; 78, bidirectional toothed plate; 8, second lifting component; 81, rotating rod; 82, second guardrail; 83, second gear; 84, second collar; 85, second helical tooth; 86, second support; 87, second motor; 88, second transmission shaft; 881, second limiting plate; 882, second compression spring; 883, second claw; 9, rope; 91, first abutting plate; 92, second abutting plate; 10, supporting component; 101, base; 102, hydraulic oil storage tank; 103, sliding rod; 031, notch; 104, piston; 105, first spring; 106, hydraulic oil pipe; 107, hydraulic column; 108, sealing washer; 109, connecting plate; 110, second spring; 111, concave limiting seat; 112, supporting bracket; 113, groove; 131, stop block; 132, rotating shaft; 133, support leg; 134, torsion spring. Specific embodiments

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0020] In order to solve the technical problem that the steel structure tilts during turning, resulting in the rollover of the AGV guiding vehicle 2 due to its own gravity, turning centrifugal force, and insufficient binding by the staff, as Figures 1-4 shown, the following preferred technical solutions are provided: An intelligent AGV system for the processing of prefabricated steel structures, including an I-shaped track 1, an AGV guiding vehicle 2, a control module 3, and an induction module 6. The AGV guiding vehicle 2 is the core transportation tool of the entire system and travels along the I-shaped track 1 in the steel structure processing workshop, responsible for transporting steel structure materials.

[0021] A limit component 4 is installed on the AGV guiding vehicle 2. As Figure 2 shown, the limit component 4 includes a support plate 41 fixed on the AGV guiding vehicle 2. A double-axis electric push rod 42 is fixedly connected to the support plate 41. The output end of the double-axis electric push rod 42 is fixedly connected with a telescopic rod 43. A limit claw 44 is fixedly connected to the side of the telescopic rod 43. When the AGV guiding vehicle 2 travels on the I-shaped track 1, the limit claw 44 can be embedded into the concave positions on both sides of the I-shaped track 1, thereby restricting the lateral movement of the AGV guiding vehicle 2 and preventing it from deviating from the track. When the AGV guiding vehicle 2 needs to turn or leave the track, the double-axis electric push rod 42 can contract the telescopic rod 43 to make the limit claw 44 disengage from the concave position of the track, facilitating the operation of the AGV guiding vehicle 2.

[0022] The control module 3 includes a display 31. The display 31 is installed on the AGV guiding vehicle 2. The display 31 provides an intuitive operation interface for the operator. The operator can view the operating status of the AGV guiding vehicle 2 in real time through the display 31, including information such as the current position, traveling speed, remaining power, etc., facilitating the operator to carry out task management and scheduling. Buttons 32 are installed on the AGV guiding vehicle 2, providing a convenient manual control method for the operator. As Figure 3 shown, the induction module 6 includes an infrared transmitter 61. The infrared transmitter 61 is installed on the side wall of one of the struts 71, and an infrared receiver 62 is installed on the side wall of the other strut 71.

[0023] The I-shaped track 1 is arranged in an I-shaped shape, and its two sides are arranged in a concave shape. The limit claw 44 is at the same horizontal plane as the concave position of the I-shaped track 1. This shape can cooperate with the limit component 4 on the AGV guiding vehicle 2 to provide a stable traveling path for the AGV guiding vehicle 2 and ensure that it will not deviate or derail during transportation.

[0024] Specifically, during the process of using the AGV guiding vehicle 2 to transport steel structures, since the transportation route of the steel structures is fixed, the I-shaped track 1 will be installed and firmly fixed to the ground during actual operation. Subsequently, the AGV guiding vehicle 2 moves smoothly on the I-shaped track 1. When a specific operation needs to be performed on the AGV guiding vehicle 2, the double-axis electric push rod 42 is started to drive the telescopic rod 43 to extend outward, so that the limit claw 44 on the telescopic rod 43 slides along with the extension of the telescopic rod 43 until the limit claw 44 disengages from the I-shaped track 1. At this time, the AGV guiding vehicle 2 is no longer in contact with the I-shaped track 1.

[0025] When transporting steel structures, the staff can monitor the status of the AGV guiding vehicle 2 in real time through the display 31, and then use the button 32 to precisely control parameters such as the running speed and stop position of the AGV. After completing the control settings, the AGV guiding vehicle 2 is started to move above the I-shaped track 1. During the movement, the AGV guiding vehicle 2 will pass through curves. At the same time, the infrared transmitter 61 continuously emits infrared rays towards the infrared receiver 62. When the infrared beam is not blocked, the infrared receiver 62 can stably receive the infrared rays. However, when the infrared beam is blocked, the infrared receiver 62 cannot receive the infrared light and will immediately output an alarm electrical signal. By the change of the infrared receiving signal between the infrared transmitter 61 and the infrared receiver 62, it is possible to accurately judge whether the steel structure is inclined or even at risk of falling.

[0026] When the AGV guiding vehicle 2 turns, due to the relatively high center of gravity of the steel structure itself and the fact that the staff may not tie it firmly during the binding of the steel structure, during the turning process, affected by the centrifugal force, the steel structure is prone to tilting. Since the turning direction of the AGV guiding vehicle 2 is different, the tilting direction of the steel structure will also be different. When the steel structure tilts, it is very likely to hit the first guardrail 73 or the second guardrail 82. When the steel structure hits the first guardrail 73, during the impact, the gravity of the steel structure itself will push the first guardrail 73 to rotate, causing a change in the position of the first guardrail 73, thereby blocking the scanning line of sight of the infrared transmitter 61. At this time, the infrared receiver 62 cannot receive the signal emitted by the infrared transmitter 61, and the system will judge that the steel structure has tilted and is at risk of falling. The infrared receiver 62 will quickly transmit the received signal to the double-axis electric push rod 42. After receiving the electrical signal, the double-axis electric push rod 42 will immediately drive the telescopic rods 43 at both ends to retract into the double-axis electric push rod 42. As the telescopic rods 43 retract, the limit claws 44 at their end sides will quickly move towards the depressions on both sides of the I-shaped track 1 and tightly abut against the I-shaped track 1. In this way, when the steel structure topples, it can immediately brake the AGV guiding vehicle 2, effectively preventing the AGV guiding vehicle 2 from tilting due to the toppling of the steel structure, thereby avoiding damage to the AGV guiding vehicle 2 due to toppling and improving the service life of the AGV guiding vehicle 2.

[0027] To solve the technical problem of the steel structure tilting and falling during turning caused by its own gravity, centrifugal force during turning, and loose binding by the staff, as Figures 3-8 shown, the following preferred technical solutions are provided: A steel structure placement platform 5 is fixedly connected to the AGV guide vehicle 2. A first towing and lifting assembly 7 is installed on the steel structure placement platform 5. The first towing and lifting assembly 7 includes columns 71 symmetrically and fixedly connected to the steel structure placement platform 5. A rotating rod 72 is rotatably connected to the columns 71. A first guardrail 73 is fixedly sleeved on the rotating rod 72. A second towing and lifting assembly 8 is installed on the steel structure placement platform 5. The second towing and lifting assembly 8 includes a rotating rod 81 rotatably connected to the steel structure placement platform 5. As Figure 3 shown, a second guardrail 82 is fixedly sleeved on the rotating rod 81. The functions of the first guardrail 73 and the second guardrail 82 are to protect and restrain the steel structure placed on the steel structure placement platform 5, preventing the steel structure from shaking, slipping, etc. during transportation. A rope 9 is connected and installed between the first guardrail 73 and the second guardrail 82. By the rope 9 being straightened under force, the first guardrail and the second guardrail are rotated to a stress balance state to tow the steel structure and prevent it from falling.

[0028] As Figures 4-7 shown, a first gear 74 is fixedly sleeved on the rotating rod 72. A limit block 77 is fixedly connected to the steel structure placement platform 5. A bidirectional tooth plate 78 is slidably connected in the limit block 77. The bidirectional tooth plate 78 is provided with a plurality of teeth that are symmetrically arranged and staggered in position. The part of the bidirectional tooth plate 78 with teeth facing upward meshes with the first gear 74.

[0029] As Figure 5 shown, a first support 721 is fixedly connected to the AGV guide vehicle 2. A first motor 722 is fixedly connected to the first support 721. The output end of the first motor 722 is fixedly connected to a first transmission shaft 723. A first limit plate 724 is fixedly connected to the first transmission shaft 723. Two second limit plates 881 are symmetrically provided. A first compression spring 725 is installed between the two limit plates. One end of the first compression spring 725 is fixedly connected to a claw, and the other end of the first compression spring 725 is fixedly connected to the transmission shaft.

[0030] As Figure 5 shown, a first collar 75 is fixedly connected to the side wall of the first gear 74. A plurality of first helical teeth 76 are fixed to the inner wall of the first collar 75. The first helical teeth 76 are clamped with the first claw 726.

[0031] As Figures 4-5 shown, a second gear 83 is fixedly sleeved on the rotating rod 81. A second collar 84 is fixedly connected to the side wall of the second gear 83. A plurality of second helical teeth 85 are fixed to the inner wall of the second collar 84. The part of the bidirectional tooth plate 78 with teeth facing upward meshes with the second gear 83. The sliding of the bidirectional tooth plate 78 can drive the first gear 74 and the second gear 83 to rotate simultaneously, realizing the synchronous movement of the first guardrail 73 and the second guardrail 82.

[0032] As Figure 7As shown, a second support 86 is fixedly connected to the AGV guiding vehicle 2. A second motor 87 is fixedly connected to the second support 86. The output end of the second motor 87 is fixedly connected to a second transmission shaft 88. A second limiting plate 881 is fixedly connected to the second transmission shaft 88. A second compression spring 882 is installed in the second limiting plate 881. One end of the second compression spring 882 is fixedly connected to a second claw 883, and the other end of the second compression spring 882 is fixedly connected to the second transmission shaft 88.

[0033] Specifically, as Figures 3-4 shown, in the initial state, both the first guardrail 73 and the second guardrail 82 are perpendicular to the steel structure placement table 5. The steel structure is stably placed on the steel structure placement table 5. At this time, the rope 9 is in a bent state.

[0034] When the AGV car is transporting, it will make a turning movement during operation. Since the center of gravity of the steel structure itself is relatively high and the staff fails to firmly tie the steel structure during binding, when the car turns, the centrifugal force will cause the steel structure to tilt. Once the steel structure tilts, it may hit the first guardrail 73 or the second guardrail 82. After being hit, these two guardrails will fall down. During the falling process, the guardrails will block the infrared beam emitted by the infrared sensor, causing the infrared receiver to be unable to receive infrared light, and then output an alarm electrical signal to trigger an alarm sound, so as to remind the staff that the car has fallen.

[0035] When the steel structure tilts and hits the first guardrail 73, considering the self-braking performance of the first motor 722 and the second motor 87, at the moment when the steel structure is hit, the braking performance of these two motors will automatically disappear. Then, under the action of the self-gravity of the steel structure, it will push the first guardrail 73 to rotate. As Figure 3 shown, after being hit, the first guardrail 73 will rotate outwards. As the first guardrail 73 rotates, the rotating rod 72 fixedly connected to it will also rotate accordingly. Also, because the first gear 74 is fixedly connected to the rotating rod 72, when the rotating rod 72 rotates, the first gear 74 sleeved outside it will also rotate to the right accordingly. When the first gear 74 rotates to the right, since it is fixed to the first guardrail 73, during the process of the first gear 74 rotating to the left, it will drive the first guardrail 73 to rotate synchronously to the left. Since the first gear 74 is fixed to the first collar 75, there are multiple first helical teeth 76 in the first collar 75, and the first claw 726 is located in the first helical teeth 76. When the first guardrail 73 rotates to the right, it will touch the first helical teeth 76, and the inclined surfaces of the first helical teeth 76 and the first claw 726 match each other. Therefore, when the first guardrail 73 rotates to the left, under the action of the inclined surface, the first claw 726 will be squeezed by the inclined surface, and then squeeze the first spring 105 and slide into the first limiting plate 724. In this way, the first claw 726 will not restrict the rotation of the first gear 74, thus ensuring the stable rotation of the first gear 74.

[0036] When the first gear 74 rotates continuously, as Figure 4 shown, since the two ends of the bidirectional toothed plate 78 are provided with staggered teeth, the upward teeth thereof are meshed with the first gear 74, and the downward teeth are meshed with the second gear 83. Therefore, when the first gear 74 rotates, it will be meshed with the bidirectional toothed plate 78, causing the bidirectional toothed plate 78 to slide to the left. When the bidirectional toothed plate 78 slides to the left, its downward teeth will contact the second gear 83, prompting the second gear 83 to rotate to the left under the meshing action. Since the first guardrail 73 and the second guardrail 82 are bound by a rope 9, and the first guardrail 73 rotates to the left while the second guardrail 82 rotates to the right, during the synchronous rotation of the two, the rope 9 will be stretched until it is straightened. When the rope 9 is straightened, a force balance state will be reached between the first guardrail 73 and the second guardrail 82. At this time, the steel structure falling on the first guardrail 73 will be restricted at this position, preventing the steel structure from falling.

[0037] Subsequently, after the staff hears the alarm sound, they will arrive at the scene in time to adjust the steel structure. When the steel structure is adjusted and put back in place, as Figures 4-8 shown, the second motor 87 is started. The second motor 87 immediately drives the second transmission shaft 88 to rotate to the right. When the second transmission shaft 88 rotates, since it is fixedly connected to the second limit plate 881, and a second compression spring 882 is installed between the two symmetrically arranged second limit plates 881, and the two ends of the second compression spring 882 are respectively fixed to the second transmission shaft 88 and the second claw 883, the second limit plate 881, the second spring 110, and the second claw 883 will all rotate synchronously with the second transmission shaft 88. At the same time, a second collar 84 is fixed to the end side of the second gear 83, and a plurality of second helical teeth 85 are fixedly installed inside the second collar 84. The second claw 883 is clamped between two of the second helical teeth 85. Therefore, during the process of the second transmission shaft 88 rotating to the right, under the action of the second claw 883, the second helical teeth 85 clamped thereto will rotate to the right. Also, because the second helical gear 85 is fixed to the second collar 84, the second claw 883 will drive the second gear 83 on the second collar 84 to rotate to the right. As the second gear 83 rotates to the right, the second guardrail 82 on the second gear 83 will also rotate to the right to reset. When the second guardrail 82 rotates to the right, the bidirectional toothed plate 78 meshed with it will move to the right. As the bidirectional toothed plate 78 moves to the right, the bidirectional toothed plate 78 will be meshed with the first gear 74, causing the first gear 74 to be forced to rotate to the left. When the first gear 74 rotates to the left, it will drive the first guardrail 73 fixed thereto to rotate to the left to reset, so that the rope 9 between the first guardrail 73 and the second guardrail 82 returns to the initial state again. Finally, after the staff binds the steel structure firmly, the AGV cart can be used for transportation again.

[0038] When the AGV guide vehicle 2 is turning, if the steel structure placed above tilts and hits the second guardrail 82, the entire process will be performed in the opposite direction according to the above steps, and the anti-fall action when the steel structure tilts in another direction can also be achieved, thereby effectively solving the problem of the steel structure tilting and falling when the AGV guide vehicle 2 turns due to the high center of gravity of the steel structure itself and loose binding, and avoiding damage caused by the falling of the steel structure.

[0039] In order to solve the technical problems of steel structures falling to the ground, causing noise, injuring workers, and damaging surrounding materials, such as Figures 9-15 As shown, the following preferred technical solutions are provided: like Figure 4 , Figures 9-11 As shown, a support assembly 10 is installed on the AGV guide vehicle 2. The support assembly 10 includes a base 101 fixedly connected to the side wall of the AGV. A hydraulic oil storage tank 102 is fixedly connected inside the base 101 for storing hydraulic oil. The capacity design of the storage tank should be determined according to the working requirements of the support assembly 10 and the working frequency of the hydraulic system to ensure sufficient supply of hydraulic oil. The side wall of the hydraulic oil storage pipe is connected to a hydraulic oil pipe 106, which is a channel for the flow of hydraulic oil. A hydraulic column 107 is slidably connected inside the hydraulic oil pipe 106. A connecting plate 109 is fixedly connected to the end side of the hydraulic column 107. A supporting bracket 112 is fixedly connected to the side wall of the connecting plate 109. The connecting plate 109 serves to connect the hydraulic column 107 and the supporting bracket 112. When the position of the supporting bracket 112 needs to be adjusted, the hydraulic oil enters the hydraulic oil pipe 106 from the storage tank. The hydraulic column 107 slidably connected inside the hydraulic oil pipe 106 performs telescopic movement under the pressure of the hydraulic oil.

[0040] like Figure 3 As shown, a first abutment plate 91 is fixed to the side wall of the first guardrail 73 , and a second abutment plate 92 is fixed to the side wall of the second guardrail 82 , which are used to cooperate with the sliding rod 103 to realize the subsequent sliding out action of the supporting bracket 112 .

[0041] like Figures 9-10As shown in the figure, a sliding rod 103 penetrates and slides inside the top of the hydraulic oil storage pipe. A notch 031 is provided on the top surface of the sliding rod 103. The bottom of the sliding rod 103 is fixedly connected with a piston 104. A first spring 105 is sleeved on the outer circle of the sliding rod 103. The two ends of the first spring 105 are respectively fixedly connected with the inner top wall of the hydraulic oil storage tank 102 and the top surface of the piston 104. When the pressure of the hydraulic oil changes, the piston 104 drives the sliding rod 103 to slide up and down in the tank under the action of the hydraulic oil. A sealing gasket 108 is installed at the end of the hydraulic oil pipe 106 to prevent the hydraulic oil from leaking from the connection part between the hydraulic oil pipe 106 and the hydraulic column 107. A second spring 110 is sleeved on the hydraulic column 107. The two ends of the second spring 110 are respectively fixedly connected with the connecting plate 109 and the sealing gasket 108. The hydraulic column 107 is slidably connected with the sealing gasket 108. A concave limiting seat 111 is fixedly connected to the AGV guide vehicle 2 to limit and guide the movement of the bearing bracket 112, ensuring that the bearing bracket 112 maintains a stable trajectory during the sliding process, preventing the bearing bracket 112 from shifting or shaking, and improving the working accuracy and reliability of the supporting assembly 10.

[0042] A groove 113 is provided on the bottom surface of the bearing bracket 112. The bearing bracket 112 fits and slides on the top surface of the concave limiting seat 111. A rotating shaft 132 is fixed in the groove 113. A torsion spring 134 is sleeved on the outer circle of the rotating shaft 132. A support leg 133 is rotatably sleeved on the rotating shaft 132. The side wall of the groove 113 and the support leg 133 are elastically connected by the torsion spring 134. The torsion spring 134 provides an elastic torque for the support leg 133 so that the support leg 133 can maintain a specific position when not subjected to external forces. A stop block 131 is fixedly connected in the groove 113 to limit the rotation angle of the support leg 133 and prevent the support leg 133 from rotating excessively and affecting the normal operation of the bearing bracket 112.

[0043] Specifically, as Figures 3-10 - Figure 11 shown in the figure, when the AGV guide vehicle 2 encounters an obstacle during a turning process and needs to make an emergency avoidance, the centrifugal force it receives during turning will increase. If the first guardrail 73 and the second guardrail 82 cannot effectively intercept the steel structure at this time, the rope 9 connecting the first guardrail 73 and the second guardrail 82 will break due to being unable to withstand the excessive tensile force.

[0044] After the rope 9 breaks, the first guardrail 73 and the second guardrail 82 will correspondingly perform a series of actions. Taking the first guardrail 73 as an example, it will continue to rotate to the right. During this process, the first contact plate 91 on the first guardrail 73 will also rotate to the right and come into contact with the notch 031 on the sliding rod 103. When the two come into contact, under the action of the impact force, the sliding rod 103 will slide downward in the hydraulic oil storage tank 102. As the sliding rod 103 slides downward, the piston 104 at its bottom will slide downward closely attached to the inner wall of the hydraulic oil storage tank 102, while stretching the first spring 105. During the downward sliding of the piston 104, the hydraulic oil in the hydraulic oil storage tank 102 will be squeezed into the hydraulic oil pipe 106. With the continuous pushing of the hydraulic oil, the hydraulic oil will push the hydraulic column 107 to slide outward. When the hydraulic column 107 slides outward, it will stretch the second spring 110, and the stretching performance of the second spring 110 is adaptively set according to the specific situation of the transported steel structure.

[0045] As the hydraulic column 107 continues to slide, it will push the support bracket 112 on the connecting plate 109 to slide outward along the concave limiting seat 111. It should be particularly noted that since the volume of the steel structure transported by the AGV guide vehicle 2 is usually not large, the distance that the support bracket 112 extends outward is adapted according to the actual volume of the steel structure, so as to ensure that the support bracket 112 can stably support the steel structure.

[0046] While the support bracket 112 slides, the torsion spring 134 will release pressure and drive the support leg 133 to rotate. As the support leg 133 rotates, when the support leg 133 rotates and touches the stop block 131, the stop block 131 will limit the rotation angle of the support leg 133, effectively preventing the support leg 133 from affecting the normal operation of the support bracket 112 due to excessive rotation. When the support leg 133 rotates to the maximum angle, it will be perpendicular to the ground, so that the support bracket 112 can quickly and stably support the steel structure, avoiding the steel structure from falling to the ground, and thus preventing the occurrence of noise caused by the falling of the steel structure, as well as the possible situations of injuring workers and damaging surrounding items.

[0047] Then the staff will arrive in time to adjust it. After the adjustment, the first guardrail 73 disengages from the first resistance plate 91, and the first resistance plate 91 disengages from the recess 031 of the sliding rod 103, so that the resistance to the sliding rod 103 is released. After the sliding rod 103 is released from the resistance, the first spring 105 below it uses its own elastic performance to drive it to reset. During the reset, it drives the piston 104 to slide up, so that the hydraulic oil flows back and thus releases the push on the hydraulic column 107. At the same time, the elastic performance of the second spring 110 is used to drive it to reset, so that the hydraulic column 107 drives the supporting bracket 112 on the connecting plate 109 to slide back. As the supporting bracket 112 slides back, the supporting foot 133 contacts the concave limit seat 111 during the sliding process. The supporting foot 133 will rotate when it is resisted and transmit the torque force to the torsion spring 134. When the supporting bracket 112 slides to the initial position, the supporting foot 133 completely enters the groove 113, and the torsion spring 134 is charged and waits for the next use.

[0048] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0049] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent AGV system for the processing of prefabricated steel structures, comprising an I-shaped track (1), an AGV guiding vehicle (2), a control module (3) and an induction module (6), characterized in that: A limit component (4) is installed on the AGV guiding vehicle (2). The limit component (4) includes a support plate (41) fixed on the AGV guiding vehicle (2). A double-axis electric push rod (42) is fixedly connected to the support plate (41). A telescopic rod (43) is fixedly connected to the output end of the double-axis electric push rod (42). A limit claw (44) is fixedly connected to the side of the telescopic rod (43). A steel structure placement platform (5) is fixedly connected to the AGV guiding vehicle (2). A first towing and lifting component (7) is installed on the steel structure placement platform (5). The first towing and lifting component (7) includes columns (71) symmetrically and fixedly connected to the steel structure placement platform (5). A rotating rod (72) is rotatably connected to the columns (71). A first guardrail (73) is fixedly sleeved on the rotating rod (72). A second towing and lifting component (8) is installed on the steel structure placement platform (5). The second towing and lifting component (8) includes a rotating rod (81) rotatably connected to the steel structure placement platform (5). A second guardrail (82) is fixedly sleeved on the rotating rod (81). A rope (9) is connected and installed between the first guardrail (73) and the second guardrail (82). The control module (3) includes a display (31). The display (31) is installed on the AGV guiding vehicle (2). A button (32) is installed on the AGV guiding vehicle (2). The induction module (6) includes an infrared transmitter (61). The infrared transmitter (61) is installed on the side wall of one of the columns (71). An infrared receiver (62) is installed on the side wall of the other column (71). A supporting component (10) is installed on the AGV guiding vehicle (2). The supporting component (10) includes a base (101) fixedly connected to the side wall of the AGV. A hydraulic oil storage tank (102) is fixedly connected inside the base (101). A hydraulic oil pipe (106) is communicated with the side wall of the hydraulic oil storage pipe. A hydraulic column (107) is slidably connected inside the hydraulic oil pipe (106). A connecting plate (109) is fixedly connected to the side of the hydraulic column (107). A supporting bracket (112) is fixedly connected to the side wall of the connecting plate (109).

2. The intelligent AGV system for prefabricated steel structure processing according to claim 1, wherein: The I-shaped track (1) is arranged in an I-shaped shape, and its two sides are arranged in a concave shape. The limit claw (44) is at the same horizontal plane as the concave position of the I-shaped track (1).

3. An intelligent AGV system for the processing of prefabricated steel structures according to claim 1, characterized in that: A first gear (74) is fixedly sleeved on the rotating rod (72). A limit block (77) is fixedly connected to the steel structure placement platform (5). A bidirectional toothed plate (78) is slidably connected inside the limit block (77). The bidirectional toothed plate (78) is provided with a plurality of teeth that are symmetrically and staggeredly arranged. The part of the bidirectional toothed plate (78) with teeth facing upwards meshes with the first gear (74).

4. The intelligent AGV system for prefabricated steel structure processing according to claim 3, characterized in that: A first support (721) is fixedly connected to the AGV guiding vehicle (2). A first motor (722) is fixedly connected to the first support (721). A first transmission shaft (723) is fixedly connected to the output end of the first motor (722). A first limiting plate (724) is fixedly connected to the first transmission shaft (723). Two second limiting plates (881) are symmetrically arranged. A first compression spring (725) is installed between the two limiting plates. One end of the first compression spring (725) is fixedly connected to a claw, and the other end of the first compression spring (725) is fixedly connected to the transmission shaft.

5. The intelligent AGV system for prefabricated steel structure processing according to claim 4, wherein: A first collar (75) is fixedly connected to the side wall of the first gear (74). A plurality of first helical teeth (76) are fixed to the inner wall of the first collar (75). The first helical teeth (76) are engaged with the first claw (726).

6. The intelligent AGV system for prefabricated steel structure processing according to claim 3, characterized in that: A second gear (83) is fixedly sleeved on the rotating rod (81). A second collar (84) is fixedly connected to the side wall of the second gear (83). A plurality of second helical teeth (85) are fixed to the inner wall of the second collar (84).

7. An intelligent AGV system for the processing of prefabricated steel structures according to claim 6, characterized in that: The part of the double-sided toothed plate (78) with teeth facing upward is engaged with the second gear (83).

8. An intelligent AGV system for the processing of prefabricated steel structures according to claim 7, characterized in that: A second support (86) is fixedly connected to the AGV guiding vehicle (2). A second motor (87) is fixedly connected to the second support (86). A second transmission shaft (88) is fixedly connected to the output end of the second motor (87). A second limiting plate (881) is fixedly connected to the second transmission shaft (88). A second compression spring (882) is installed in the second limiting plate (881). One end of the second compression spring (882) is fixedly connected to a second claw (883), and the other end of the second compression spring (882) is fixedly connected to the second transmission shaft (88).

9. An intelligent AGV system for the processing of prefabricated steel structures according to claim 1, characterized in that: A first abutting plate (91) is fixed to the side wall of the first guardrail (73). A second abutting plate (92) is fixed to the side wall of the second guardrail (82).

10. An intelligent AGV system for the processing of prefabricated steel structures according to claim 1, characterized in that: A sliding rod (103) penetrates and slides inside the top of the hydraulic oil storage pipe. A notch (031) is formed on the top surface of the sliding rod (103). A piston (104) is fixedly connected to the bottom of the sliding rod (103). A first spring (105) is sleeved on the outer circle of the sliding rod (103). The two ends of the first spring (105) are respectively fixedly connected to the inner top wall of the hydraulic oil storage tank (102) and the top surface of the piston (104). A sealing gasket (108) is installed at the end of the hydraulic oil pipe (106). A second spring (110) is sleeved on the hydraulic column (107). The two ends of the second spring (110) are respectively fixedly connected to the connecting plate (109) and the sealing gasket (108). The hydraulic column (107) is slidably connected to the sealing gasket (108). A concave limiting seat (111) is fixedly connected to the AGV guiding vehicle (2). A groove (113) is formed on the bottom surface of the supporting bracket (112). The supporting bracket (112) is in sliding fit with the top surface of the concave limiting seat (111). A rotating shaft (132) is fixed in the groove (113). A torsion spring (134) is sleeved on the outer circle of the rotating shaft (132). A supporting leg (133) is rotatably sleeved on the rotating shaft (132). The side wall of the groove (113) and the supporting leg (133) are elastically connected by the torsion spring (134). A stop block (131) is fixedly connected in the groove (113).

Images