An AGV carrier vehicle and its carrying method

Abstract

The present invention discloses an AGV carrier vehicle, comprising an AGV vehicle, a tooling mounted on the AGV vehicle, and a fixture mounted on the tooling; the tooling can move along with the AGV vehicle and can horizontally move relative to the AGV vehicle under the action of a first power device, the fixture can vertically move under the action of a second power device, the tooling is of a frame structure and has a space for accommodating materials to be transported within the tooling. The present invention also provides a transportation method using such an AGV carrier vehicle. The AGV carrier vehicle of the present invention makes full use of narrow passages or aisles with limited width in the workshop to realize the relocation of large-weight and large-volume objects; the entire equipment occupies a small area, and the shape of the tooling is a frame structure and has a space for accommodating materials to be transported within the tooling, so it is not easy to overturn during the process of clamping and relocating materials, and the equipment has good stability. The transportation method of the present invention has a simple and smooth process, realizing the full automation of material transportation.

Description

Technical Field

[0001] The present invention relates to an AGV cart, and more particularly to an AGV transport cart and a transport method thereof, belonging to the technical field of short-distance intelligent transportation. Background Art

[0002] In modern manufacturing, the processing and forming of an article requires multiple processes. The semi-finished products (materials) during the processing need to be transported from one station to the next station for the processing of the next process. This requires various transport mechanisms for transportation. An AGV cart is a transport vehicle equipped with an automatic guidance device such as electromagnetic or optical, and can travel along a specified guidance path, and is being used more and more widely in modern manufacturing. However, different industries have different production working conditions, and thus have different application requirements. It is necessary to design AGV carts that meet different requirements for different production working conditions.

[0003] For example, in the textile industry, there are still a large number of semi-automatic production lines. The transportation process of materials has not been automated yet. Manual or semi-manual transportation reduces production efficiency and at the same time, there are various safety hazards. On the other hand, limited by the existing production lines and production working conditions, many automated transport tools cannot be directly used and need to be designed for various adaptations. In addition, the semi-finished materials in the textile industry are often large in volume and weight, and there are certain difficulties in transportation. Summary of the Invention

[0004] In view of the technical problem in the prior art that the material transportation needs to be diversified and it is difficult to achieve automation, the present invention provides an AGV transport cart, which is particularly suitable for the transfer transportation of materials with a long and strip-shaped appearance and a large weight. On the other hand, the present invention also provides a transport method using such an AGV transport cart to achieve the full-automatic transfer transportation of materials.

[0005] For this purpose, the present invention adopts the following technical solutions:

[0006] An AGV transport cart, including an AGV cart (1), characterized in that: it further includes a tooling (2) installed on the AGV cart, and a fixture (3) installed on the tooling. The tooling can move with the AGV cart (1) and can horizontally move relative to the AGV cart (1) under the action of a first power device (4). The fixture (3) can vertically move under the action of a second power device. The tooling (2) is of a frame structure and has a space (5) for accommodating the material (100) to be transported inside the tooling.

[0007] By installing a tooling that can move relative to the AGV cart on the AGV cart, and installing a fixture on the tooling, during the loading and unloading of materials, the loading and unloading are completed through the movement of the tooling rather than the movement of the materials, which can solve the technical problem in the prior art that the space between production lines is limited and it is difficult to accommodate large-volume transportation tools, and realize the automation of material transportation.

[0008] Furthermore, the fixture (3) can also move horizontally under the action of the third power device (6). After the tooling moves into place, the position of the clamped material can be finely adjusted through the horizontal movement of the fixture, making the control of the fixture more precise and achieving precise control of the clamping position under the condition of less energy consumption.

[0009] Furthermore, the tooling (2) is a cuboid frame structure, having four columns (21), four horizontal columns (22) and several cross beams (23). The side of the tooling (2) is square or trapezoidal with a larger bottom and a smaller top. The horizontal columns (22) are divided into upper horizontal columns (22a) and lower horizontal columns (22b). The structure is simple and stable, with strong load-bearing capacity, and can form a relatively large space for accommodating materials.

[0010] Furthermore, two sets of walking wheels (7) are installed at the bottom of the tooling (2). During the relative movement between the tooling and the AGV cart, the resistance can be effectively reduced, making the transportation process smoother.

[0011] Furthermore, at least one of the two sets of walking wheels (7) is a driving wheel (71) with a power device, and the driving wheel (71) constitutes the first power device (4). On the tooling (2), a limiting structure (8) is provided at at least one end of the lower horizontal column (22b). As a specific implementation manner of the first power device, the design of the driving wheel can not only meet the power requirements but also realize the walking function, with a simple structure and good effect.

[0012] Furthermore, limiting structures (8) are provided at both ends of the lower horizontal column (22b). The limiting structure at one end of the driving wheel (71) is a bent structure (8a) formed at the end of the lower horizontal column (22b), and the limiting structure at the other end is a limiting block (8b). The limiting structure can prevent the excessive movement of the tooling and effectively control the movement stroke of the tooling.

[0013] Furthermore, the AGV cart is equipped with a lifting device that can lift the tooling. During the process of the AGV cart loading the tooling and / or materials and moving, the tooling and / or materials are lifted to a certain height. In the case of uneven ground, it can effectively prevent the phenomenon that one end of the tooling and / or materials gets stuck due to contacting the ground, reduce the occurrence of faults, and improve the transportation efficiency.

[0014] Further, the tooling is installed on the AGV cart (1) through the first bracket (9). A pair of chutes (9a) are formed at the bottom of the first bracket (9), and this pair of chutes are slidably connected to the lower horizontal column (22b) of the tooling. The structure is simple and the connection is fixed. At the same time, the sliding connection can effectively reduce the resistance during the movement process and improve the efficiency.

[0015] Further, the fixture (3) is slidably connected to the upper horizontal column (22a) of the tooling (2) through the second bracket (10), and the power output end of the third power device (6) is connected to the second bracket (10); the fixtures (3) are arranged in pairs. The structure is simple and the connection is fixed. At the same time, the sliding connection can effectively reduce the resistance during the movement process and improve the efficiency; the included angle of the paired arrangement facilitates the stable clamping of the material.

[0016] On the other hand, the present invention also provides a transportation method using this kind of AGV transportation cart, including the following steps:

[0017] S1: The AGV cart loads the tooling, the lifting device is turned on, the tooling is raised, the AGV cart loaded with the tooling moves to the material to be transported, the lifting device resets, and the tooling descends;

[0018] S2: The first power device (4) operates, and the tooling moves in the direction of the material to be transported until the material is completely accommodated in the tooling;

[0019] S3: The second power device operates, the fixture (3) descends to the material, the fixture (3) opens to clamp the material, the fixture (3) closes, and the second power device operates in the reverse direction, and the fixture (3) holding the material rises;

[0020] S4: The first power device (4) operates in the reverse direction, and the tooling moves in the direction of the AGV cart until the material is directly above the AGV cart;

[0021] S5: The second power device operates, the fixture (3) descends to the top of the AGV cart, the fixture (3) opens, and the material is placed on the AGV cart; the fixture (3) closes and resets; the lifting device is turned on, the tooling and the material are raised, and then the AGV cart moves the material to the set position, completing one transportation of the material.

[0022] The above transportation process steps are simple and smooth, and realize the full-automatic transportation of materials on the premise of not changing the existing production line and production conditions.

[0023] In summary, the present invention is particularly suitable for the transfer and transportation of heavier materials with a long strip shape, and can be used to improve the transfer and transportation process of materials in the existing textile industry. Without improving the production equipment, it realizes the full automation of material transportation. Description of the Drawings

[0024] Figure 1 is the structural schematic diagram of Embodiment 1 of the present invention;

[0025] Figure 2 is Figure 1 the side view (right side) of;

[0026] In the figure, 1 is an AGV cart, 2 is a tooling, 21 is a column, 22 is a horizontal column, 22a is an upper horizontal column, 22b is a lower horizontal column, 23 is a cross beam, 3 is a fixture, 4 is a first power device, 5 is a space for accommodating materials, 6 is a third power device, 7 is a traveling wheel, 71 is a driving wheel, 8 is a limiting structure, 8a is a bending structure, 8b is a limiting block, 9 is a first bracket, 9a is a chute, 10 is a second bracket; 100 is a material.

[0027] Figures 3a - 3f is the process schematic diagram of Embodiment 2 of the present invention, where:

[0028] Figure 3a is that the lifting device of the AGV cart is opened and the tooling is loaded and moved forward;

[0029] Figure 3b is that when encountering a material, the lifting device resets, the tooling descends, and the first power device 4 acts until the material is completely accommodated in the tooling;

[0030] Figure 3c is that the second power device acts and the fixture 3 descends to clamp the material;

[0031] Figure 3d is that the first power device 4 acts in the reverse direction and the carrying tooling returns to its position;

[0032] Figure 3e is that the fixture 3 opens and the material is placed on the AGV cart;

[0033] Figure 3f is that the lifting device is opened, and the tooling and the material are raised and the tooling with the material is moved forward. Specific Embodiments

[0034] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] Embodiment 1:

[0036] As Figure 1 , Figure 2As shown in the figure, the AGV carrier vehicle of this embodiment includes an AGV vehicle 1, a tooling 2 installed on the AGV vehicle, and a fixture 3 installed on the tooling. The tooling 2 can move with the AGV vehicle 1 and can move horizontally relative to the AGV vehicle 1 under the action of a first power device 4. The fixture 3 can move vertically under the action of a second power device, and the fixture 3 can also move horizontally under the action of a third power device 6. The tooling 2 is of a frame structure and forms a space 5 for accommodating the material inside the tooling.

[0037] As a specific implementation manner, the tooling 2 is a cuboid frame structure, having four columns 21, four horizontal columns 22, and several cross beams 23. The side surface of the tooling 2 is square or trapezoidal with a larger bottom and a smaller top. The horizontal columns 22 are divided into upper horizontal columns 22a and lower horizontal columns 22b. Two sets of traveling wheels 7 are installed at the bottom of the tooling 2. Specifically, the two sets of traveling wheels are respectively installed at the joints of the four columns 21 and the two lower horizontal columns 22b. Among them, one set of traveling wheels is a driving wheel 71 with a power device, and the other set of traveling wheels is a driven wheel. This set of driving wheels 71 can be located in front of or behind the traveling route of the AGV vehicle 1. As a specific implementation manner of the first power device 4, when the AGV vehicle 1 is loaded with the tooling 2 and reaches the material 100 to be transported, the driving wheel 71 drives the tooling 2 to move while the AGV vehicle 1 does not move at this time, so that the tooling 2 moves horizontally relative to the AGV vehicle 1. The movement of the tooling 2 places the material 100 inside the tooling, that is, inside the space 5 for accommodating the material in the tooling 2. At this time, the AGV vehicle 1 is located on the side of the bottom of the tooling opposite to the material 100.

[0038] To prevent excessive movement of the tooling, a limiting structure is provided on the tooling. Specifically, limiting structures 8 are provided at both ends of the lower horizontal column 22b. Among them, the limiting structure at one end of the driving wheel 71 is a bending structure 8a formed at the end of the lower horizontal column 22b, and the limiting structure at the other end is a limiting block 8b.

[0039] To prevent the AGV carrier vehicle from getting stuck due to uneven road surfaces, the AGV vehicle is equipped with a lifting device. Figure 3a , Figure 3f The state when the lifting device is turned on is shown in the figure. As shown, the lifting device can lift the entire tooling. The lifting device can adopt the lifting structure of the AGV vehicle in the prior art, which will not be elaborated here.

[0040] The tooling 2 is installed on the AGV cart 1 through the first bracket 9. Specifically, in this embodiment, the first bracket 9 is formed by connecting several horizontally or vertically arranged rods, forming a continuous vertical plane, a horizontal plane and another vertical plane. The whole of the first bracket 9 is sleeved on the AGV cart. At the bottoms of the two vertical planes of the first bracket 9, a chute 9a is respectively formed, and the chutes 9a are respectively slidably connected to the lower horizontal columns 22b of the tooling.

[0041] The fixture 3 is slidably connected to the upper horizontal column 22a of the tooling 2 through the second bracket 10, and the power output end of the third power device 6 is connected to the second bracket 10; the fixtures 3 are arranged in pairs. Specifically, the second bracket 10 is a square frame, and sliders are provided at the bottoms of two of its sides. Correspondingly, a section of chute is formed on the upper horizontal column 22a of the tooling 2, and the length of this section of chute can be set according to the stroke of the second bracket 10, so that the second bracket 10 can slide on the upper horizontal column 22a. The third power device 6 is a cylinder, and the cylinder rod of the cylinder is connected to the second bracket 10, so as to drive the second bracket to slide on the upper horizontal column 22a. Of course, other existing power devices, such as oil cylinders, motors, etc., can also be used for the third power device.

[0042] As Figure 2 shown, the fixture 3 can be selected according to the shape of the material to be transported. In this embodiment, the example of fabric / fabric semi-finished products is used for illustration. Therefore, the selected fixture corresponds to the cylindrical shape of the material; according to different materials, other fixtures or manipulators in the prior art can be selected.

[0043] Embodiment 2:

[0044] As Figures 3a to 3f shown, this embodiment provides a transportation method using the aforementioned AGV carrier cart, including the following steps:

[0045] S1: The AGV cart loads the tooling, the lifting device is turned on, the tooling is raised, the AGV cart loaded with the tooling moves to the material to be transported, the lifting device resets, and the tooling descends;

[0046] S2: The first power device 4 operates, and the tooling moves towards the material to be transported until the material is completely received into the tooling;

[0047] S3: The second power device operates, the fixture 3 descends to the material, the fixture 3 opens, grabs the material, the fixture 3 closes, and the second power device operates in the reverse direction, and the fixture 3 holding the material rises;

[0048] S4: The first power device 4 operates in the reverse direction, and the tooling moves towards the AGV cart until the material is directly above the AGV cart;

[0049] S5: The second power device operates, the fixture 3 descends to the top of the AGV cart, the fixture 3 opens, and the material is placed on the AGV cart; the fixture 3 closes and resets; the lifting device is activated, the tooling and the material are lifted, and then the AGV cart moves the material to the set position, completing the transportation of the material once.

Claims

1. An AGV carrier vehicle, comprising an AGV vehicle (1), characterized in that: it further comprises a tooling (2) installed on the AGV vehicle, and a fixture (3) installed on the tooling. The tooling can move with the AGV vehicle (1) and can horizontally move relative to the AGV vehicle (1) under the action of a first power device (4). The fixture (3) can vertically move under the action of a second power device. The tooling (2) is of a frame structure and has a space (5) for accommodating the material (100) to be transported inside the tooling. The fixture (3) completes the loading and unloading of the material (100) inside the tooling (2). Two sets of walking wheels (7) are installed at the bottom of the tooling (2), and the AGV vehicle has a lifting device that can lift the tooling.

2. The AGV carrier vehicle according to claim 1, characterized in that: the fixture (3) can also horizontally move under the action of a third power device (6).

3. The AGV carrier vehicle according to claim 1, characterized in that: the tooling (2) has four columns (21), four horizontal columns (22) and several cross beams (23). The side of the tooling (2) is square or trapezoidal with a larger bottom and a smaller top. The horizontal columns (22) are divided into upper horizontal columns (22a) and lower horizontal columns (22b).

4. The AGV carrier vehicle according to claim 1, characterized in that: at least one of the two sets of walking wheels (7) is a driving wheel (71) with a power device, and the driving wheel (71) constitutes the first power device (4); a limiting structure (8) is provided at at least one end of the upper and lower horizontal columns (22b) of the tooling (2).

5. The AGV carrier vehicle according to claim 4, characterized in that: limiting structures (8) are provided at both ends of the lower horizontal column (22b). The limiting structure at one end of the driving wheel (71) is a bending structure (8a) formed at the end of the lower horizontal column (22b), and the limiting structure at the other end is a limiting block (8b).

6. The AGV carrier vehicle according to claim 1, characterized in that: the tooling is installed on the AGV vehicle (1) through a first bracket (9). A pair of chutes (9a) are formed at the bottom of the first bracket (9), and the pair of chutes are slidably connected to the lower horizontal column (22b) of the tooling.

7. The AGV carrier vehicle according to claim 2, characterized in that: the fixture (3) is slidably connected to the upper horizontal column (22a) of the tooling (2) through a second bracket (10), and the power output end of the third power device (6) is connected to the second bracket (10); the fixtures (3) are provided in pairs.

8. A transportation method using any one of the AGV carrier vehicles of claims 1-7, comprising the following steps: S1: The AGV vehicle (1) loads the tooling (2), the lifting device is turned on, the tooling is lifted, the AGV vehicle loaded with the tooling moves to the material (100) to be transported, and the lifting device resets and the tooling descends; S2: The first power device (4) operates, and the tooling moves towards the material to be transported until the material is completely accommodated inside the tooling; S3: The second power device operates, the fixture (3) descends to the material position, the fixture (3) opens to pick up the material, the fixture (3) closes, and the second power device operates in the reverse direction, and the fixture (3) holding the material ascends; S4: The first power device (4) operates in the reverse direction, and the tooling moves towards the AGV cart (1) until the material is directly above the AGV cart; S5: The second power device operates, the fixture (3) descends to the top of the AGV cart, the fixture (3) opens, and the material is placed on the AGV cart; the fixture (3) closes and resets; the lifting device is activated, the tooling and the material are lifted, and then the AGV cart moves the material to the set position, completing one transportation of the material.

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