Automated guided vehicle handling device and handling method

Abstract

The present disclosure relates to an automated guided vehicle carrying device and a carrying method, wherein the automated guided vehicle (3) comprises a main vehicle body (31), and the carrying device comprises: a carrying assembly (1) comprising a support component (11) and a main driving walking component (12), the support component (11) is used for supporting the main vehicle body (31) when transferring and passing through the bottom of the automated guided vehicle (3) from front to back, and the support component (11) exceeds the main vehicle body (31) in the length direction (y); the main driving walking component (12) is connected to the front end of the support component (11) and is used for realizing the transfer of the carrying device; and an auxiliary support assembly (2) is detachably connected to the rear end of the support component (11), and the auxiliary support assembly (2) is used for limiting the rear end of the main vehicle body (31).

Description

Technical Field

[0001] This disclosure relates to the field of tobacco logistics automation technology, and in particular to an automated guided vehicle (AGV) handling device and handling method. Background Technology

[0002] Automated Guided Vehicles (AGVs) are transport equipment equipped with magnetic or optical automatic guidance devices, enabling them to automatically travel along a predetermined path. They feature safety protection and automatic cargo transfer capabilities. Widely used in the logistics systems of tobacco production workshops, AGVs can operate at speeds up to hundreds of meters per minute and transport capacities ranging from a few kilograms to several tons. They serve as hubs in the logistics system, primarily used to transport various materials. They possess excellent environmental adaptability, strong anti-interference capabilities, and target recognition abilities, allowing multiple AGVs to operate simultaneously in a single environment.

[0003] Therefore, ensuring the normal operation of AGVs is crucial in tobacco production. If one or more AGVs malfunction during automated operation and cannot be quickly removed from their path, it will cause congestion in the remaining AGVs in the system, affecting their tasks and disrupting tobacco material transport. This will disrupt the normal tobacco production process and significantly reduce production efficiency. Summary of the Invention

[0004] This disclosure provides an automated guided vehicle (AGV) handling device and method that can ensure the smooth operation of the tobacco production process.

[0005] According to one aspect of this disclosure, an automated guided vehicle (AGV) handling device is provided. The AGV includes a main body, and the handling device includes:

[0006] A transport assembly includes: a support member and a main drive unit, the support member extending from front to back through the bottom of the automated guided vehicle (AGV) to support the main vehicle body during transfer, and the support member extending beyond the main vehicle body in the longitudinal direction; the main drive unit is connected to the front end of the support member for realizing the transfer of the transport device; and

[0007] An auxiliary support assembly is detachably connected to the rear end of the support component and is used to limit the rear end of the main body.

[0008] In some embodiments, the main drive walking component includes:

[0009] Base;

[0010] The first traveling wheel is used to move the transport component; and

[0011] The operating arm has its bottom passing through the base and connected to the first traveling wheel. The operating arm is rotatable relative to the base to drive the first traveling wheel to turn.

[0012] In some embodiments, the transport component further includes:

[0013] The lifting drive component has one end connected to the base and the other end connected to the support component. The lifting drive component is used to drive the support component to lift.

[0014] In some embodiments, the support component includes:

[0015] Two first support plates are spaced apart along the width direction, and the first support plates extend along the length direction; and

[0016] The connecting part is connected to the front end of the two first support plates and is used to limit the front end of the automated guided vehicle.

[0017] The main drive walking component is installed at the connecting part.

[0018] In some embodiments, two auxiliary support components are provided, each detachably disposed at the rear end of one of the two first support plates.

[0019] In some embodiments, the support component further includes:

[0020] Two sets of auxiliary walking wheels are respectively located at the bottom of the two first support plates.

[0021] In some embodiments, the auxiliary support component includes:

[0022] A second support plate is disposed above the support component; and

[0023] The base plate is located below the supporting components;

[0024] Bolts, from top to bottom, pass through the second support plate and the base plate; and

[0025] The positioning pins pass through the second support plate, the support component, and the base plate from top to bottom to position and install the auxiliary support assembly onto the support component.

[0026] In some embodiments, two bolts are provided, which are spaced apart along the width direction, and a locating pin is located between the two bolts.

[0027] In some embodiments, the base plate is provided with threaded holes, the threaded section of the bolt engages with the threaded holes, and the base plate is configured to be raised and lowered by turning the bolt.

[0028] In some embodiments, the auxiliary support component further includes:

[0029] The thrust bearing is located between the head of the bolt and the second support plate.

[0030] In some embodiments, the auxiliary support component further includes a second traveling wheel for enabling movement of the auxiliary support component.

[0031] In some embodiments, the transport component further includes:

[0032] Two first fixing components are respectively disposed on both sides of the support component along the width direction, and located in the area of ​​the support component near the front; and

[0033] Two adjusting fasteners are screwed onto the two first fixed parts respectively, and the screwing position of the adjusting fasteners along the width direction is adjustable.

[0034] In some embodiments, the automated guided vehicle includes two crossbeams and two extension arms. The first ends of each of the two crossbeams are respectively located in the rear regions on both sides of the main vehicle body and extend in the width direction. The two extension arms are respectively connected to the second ends of each of the two crossbeams and extend rearward. The transport assembly also includes:

[0035] Two second fixing components are respectively provided on both sides of the support component along the width direction. The second fixing components are located in the area near the rear of the support component and in front of the auxiliary support assembly. The second fixing components are used to fix the crossbeam.

[0036] In some embodiments, the second fixing component is detachably disposed on the support component.

[0037] In some embodiments, the second fixing component includes a crossbar and two uprights, the bottom ends of the two uprights being connected to a supporting component and located on the front and rear sides of the crossbeam respectively, the two ends of the crossbar being connected to the top ends of the two uprights respectively, and the crossbar pressing against the crossbeam.

[0038] According to another aspect of this disclosure, a handling method based on the automated guided vehicle handling device of the above embodiments is provided, comprising:

[0039] Reverse the transport assembly so that the support component passes through the bottom of the main body from front to back;

[0040] After the transport components have moved back into position, the auxiliary support components are connected to the rear end of the support components to limit the rear end of the main vehicle body;

[0041] The main drive walking component enables the handling device to drag the automatically guided transport vehicle for transfer.

[0042] In some embodiments, the handling method further includes, prior to the transfer by dragging an automated guided vehicle:

[0043] The support components are lifted by a lifting drive component, so that the main wheels of the automated guided vehicle leave the ground.

[0044] In some embodiments, the auxiliary support assembly includes: a second support plate, a base plate, bolts, and locating pins, wherein the base plate is spaced below the second support plate, and the base plate and the second support plate are connected by bolts; the step of connecting the auxiliary support assembly to the rear end of the support component includes:

[0045] The rear end of the support component passes between the second support plate and the base plate;

[0046] With the second support plate abutting against the rear end of the main vehicle body, the positioning pin passes through the second support plate, the support component, and the base plate in sequence.

[0047] In some embodiments, the base plate is provided with threaded holes, and the threaded section of the bolt mates with the threaded holes; before the automated guided vehicle is towed for transfer, the handling method further includes:

[0048] Tighten the bolts to raise the base plate so that the auxiliary wheels of the automated guided vehicle can be lifted off the ground via the support components.

[0049] In some embodiments, the conveying assembly further includes: two first fixing components, respectively disposed on both sides of the support component along the width direction; and two adjusting fasteners, respectively screwed onto the two first fixing components, and the screwing position of the adjusting fasteners along the width direction is adjustable;

[0050] Before the support components are passed through the bottom of the main body from front to back, the handling method also includes:

[0051] Adjust the screw positions of the two adjusting fasteners to position the automated guided vehicle on the support component along the width direction.

[0052] In some embodiments, the transport assembly further includes: two second fixing components, respectively disposed on both sides of the support component along the width direction, the second fixing components being used to fix the crossbeams on the side of the main vehicle body; the transport method further includes:

[0053] Before passing the support component through the bottom of the main body from front to back, remove the two second fixing components from the support component;

[0054] After connecting the auxiliary support assembly to the rear end of the support component, two second fixing components are installed on the support component to fix the crossbeams on both sides of the automated guided vehicle through the two second fixing components respectively.

[0055] The automated guided vehicle (AGV) handling device of this disclosure, through the joint cooperation of the handling components and auxiliary support components, can quickly remove a malfunctioning AGV, so as to conveniently drag the AGV and the tobacco boxes it carries to the maintenance area, ensuring the smooth operation of other AGVs in the system line and avoiding affecting the operating efficiency of other AGVs. The entire process requires a maximum of two people to complete the disassembly and assembly. It is simple to operate, accurate in positioning, stable in bearing, and can quickly transfer malfunctioning vehicles, improving the efficiency of removing malfunctioning vehicles from the system. Moreover, the handling device has a compact structure, is easy to operate, and has high reliability, which can ensure the smooth operation of the tobacco production process. Attached Figure Description

[0056] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0057] Figure 1 This is a top view of the automated guided vehicle (AGV) handling device in the handling state.

[0058] Figure 2 The diagrams are first-view structural schematics of some embodiments of the automated guided vehicle (AGV) handling device disclosed herein.

[0059] Figure 3 This is a structural schematic diagram from a second perspective of some embodiments of the automated guided vehicle (AGV) handling device disclosed herein;

[0060] Figure 4 A schematic diagram of the top structure of some embodiments of the auxiliary support component;

[0061] Figure 5 A schematic diagram of the bottom structure of some embodiments of the auxiliary support component;

[0062] Figure 6A , Figure 6B and Figure 6C These are the front view, side view, and top view of the auxiliary support component;

[0063] Figure 7A and Figure 7B These are the front view and top view of the second support plate, respectively.

[0064] Figure 8A and Figure 8B These are the front view and top view of the base plate, respectively.

[0065] Figure 9A schematic diagram of the positioning pin in the auxiliary support component;

[0066] Figure 10 This is a structural diagram of the bolts in the auxiliary support assembly;

[0067] Figure 11 This is a structural schematic diagram of the first fixing component in the auxiliary support assembly;

[0068] Figure 12 This is a structural diagram of the second fixing component in the auxiliary support assembly;

[0069] Figure 13 A schematic diagram of a structure in which auxiliary traveling wheels are installed under the supporting components in a handling assembly.

[0070] Explanation of reference numerals in the attached figures

[0071] 1. Handling assembly; 11. Supporting component; 111. Connecting part; 111A. Receiving part; 112. First support plate; 113. Auxiliary traveling wheel; 12. Main drive traveling component; 121. Base; 122. First traveling wheel; 123. Operating arm; 123A. Support rod; 123B. Handheld part; 123C. Lifting control element; 13. First fixing component; 131. First part; 132. Second part; 14. Adjusting fastener; 15. Second fixing component; 151. Crossbar; 152. Vertical pole;

[0072] 2. Auxiliary support assembly; 21. Second support plate; 211. Weight reduction groove; 212. Groove; 213. Through hole; 22. Second traveling wheel; 23. Bolt; 24. Positioning pin; 25. Thrust bearing; 26. Base plate; 261. Base plate; 262. Protrusion; 263. Pin hole; 264. Threaded hole;

[0073] 3. Automated Guided Vehicle (AGV); 31. Main Body; 32. Main Wheels; 33. Crossbeam; 34. Extending Arm; 35. Auxiliary Wheels;

[0074] x, width direction; y, length direction; z, height direction. Detailed Implementation

[0075] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0076] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0077] In the description of this disclosure, it should be understood that the terms "center", "lateral", "longitudinal", "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of the present invention.

[0078] In the description of this disclosure, it should be understood that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this disclosure.

[0079] The inventors noted that the current medium and large AGVs used in tobacco storage weigh two to three tons each. When the weight of the goods carried by the AGV carts is added, the total weight exceeds four tons. When an AGV malfunctions, it cannot be moved away from the AGV cart's travel path by manual means, which will cause other AGVs in the system to be blocked and unable to perform other AGV tasks of moving tobacco boxes, resulting in the interruption of tobacco conveying and affecting production.

[0080] At this point, the AGV needs to be quickly removed from its travel path and moved to the maintenance area, and the task being performed by that AGV should be deleted from the system to ensure the normal operation of other AGVs. Currently, there are two main approaches to addressing this issue:

[0081] One approach is to release the AGV's walking motor and manually push it. However, because the steering motor cannot rotate, the AGV can only move in a straight line. After the faulty AGV moves in a straight line, it often cannot get rid of the influence on other AGVs.

[0082] Secondly, by collaborating with external departments, a forklift with suitable load capacity and forklift length was selected. The forklift's arm was then inserted under the AGV to stably support it and lift it off. However, coordinating with external departments to arrive on-site took a considerable amount of time, and due to different work shifts, the corresponding forklift operators were not on duty, making it impossible to meet the demand. Since the bottom of the AGV is approximately 40mm off the ground, while commonly used hydraulic forklifts are all over 50mm high, conventional hydraulic forklifts cannot be used.

[0083] In view of the shortcomings of the aforementioned AGV transfer, in order to better remove AGVs quickly from the travel path, improve the efficiency of removing AGVs from the system, and avoid damaging AGVs and related equipment, it is necessary to customize a special handling device suitable for AGVs.

[0084] This disclosure provides an automated guided vehicle (AGV) handling device for handling AGVs, such as... Figure 1 As shown, the automated guided vehicle 3 includes a main body 31, two crossbeams 33 and two extension arms 34.

[0085] The main body 31 has main wheels 32 located near the front end at its bottom. A clamping component is located at the rear end of the main body 31 for clamping items such as cigarette boxes. The first ends of two crossbeams 33 are located on the rear sides of the main body 31 and extend along the width direction x. Two extension arms 34 are connected to the second ends of the two crossbeams 33 and extend rearward along the length direction y. Since the weight of the automated guided vehicle 3 is concentrated in the main body 31, the extension arms 34 make the automated guided vehicle 3 more stable when clamping items. Each of the two extension arms 34 has an auxiliary wheel 35.

[0086] In some embodiments, including: Figures 2 to 13 As shown, the automated guided vehicle (AGV) handling device includes:

[0087] The transport assembly 1 includes: a support member 11 and a main drive unit 12. The support member 11 extends from front to back through the bottom of the automated guided vehicle 3 to support the main vehicle body 31 during transfer, and extends beyond the main vehicle body 31 in the length direction y. The main drive unit 12 is connected to the front end of the support member 11 and is used to realize the transfer of the transport device.

[0088] The auxiliary support assembly 2 is detachably connected to the rear end of the support component 11, and the auxiliary support assembly 2 is used to limit the rear end of the main vehicle body 31.

[0089] The thickness of the support component 11, which passes through the bottom of the automated guided vehicle 3, can be designed according to the actual dimensions of the automated guided vehicle 3. The handling component 1 is movable and relatively long. The auxiliary support component 2 and the handling component 1 can be separated into independent components or connected.

[0090] After the automated guided vehicle 3 malfunctions, the handling device can be quickly disassembled into two parts. The free end of the support component 11 is inserted into the bottom from the front end of the main vehicle body 31 and then extends out from the rear end of the main vehicle body 31. The auxiliary support component 2 is then assembled onto the support component 11 to limit the main vehicle body 31. After that, the entire handling device, together with the automated guided vehicle 3 and the items such as the cigarette box it carries, can be dragged to the maintenance area by the main drive walking component 12.

[0091] The handling device in this embodiment, through the joint cooperation of the handling component 1 and the auxiliary support component 2, supports the front and rear ends of the automated guided vehicle (AGV) 3 respectively. It can transfer the AGV 3 with larger weights and quickly remove the AGV 3 that has malfunctioned. This allows the AGV 3 and the tobacco boxes it carries to be easily dragged to the maintenance area, ensuring the smooth operation of other AGV 3 in the system circuit and avoiding affecting the operating efficiency of other AGV 3. The entire process requires a maximum of two people to complete the disassembly and assembly. It is simple to operate, has accurate positioning, stable load bearing, and can quickly transfer malfunctioning trolleys, improving the efficiency of removing malfunctioning trolleys from the system. Moreover, the handling device has a compact structure, is easy to operate, and has high reliability, ensuring the smooth operation of the tobacco production process.

[0092] In some embodiments, such as Figure 3 As shown, the main drive walking component 12 includes: a base 121; a first walking wheel 122 for realizing the movement of the transport component 1; and an operating arm 123, the bottom of the operating arm 123 passing through the base 121 and connected to the first walking wheel 122, and the operating arm 123 is rotatable relative to the base 121 to drive the first walking wheel 122 to turn.

[0093] The base 121 can be bent into an n-shaped structure through a plate-like structure. The first traveling wheel 122 is located in the hollow area of ​​the n-shaped structure. The first traveling wheel 122 can be a universal wheel or an all-directional wheel, which facilitates steering. Alternatively, ordinary wheels can be installed in a 360° rotatable manner to flexibly change the direction of travel and avoid affecting other automated guided vehicles 3. The operating arm 123 may include a support rod 123A and a handheld part 123B. The bottom end of the support rod 123A passes through the top plate of the base 121 and is connected to the axle of the first traveling wheel 122. The handheld part 123B is connected to the top end of the support rod 123A. The handheld part 123B may adopt a ring structure and is configured to drive the first traveling wheel 122 to turn by receiving external operation.

[0094] This embodiment allows the automated guided vehicle 3 to move flexibly forward, backward, and turn after it is placed on the transport device, facilitating the transfer of the transport device to the maintenance area. The transport device can be powered by human power or batteries.

[0095] In some embodiments, the conveying assembly 1 further includes a lifting drive component, one end of which is connected to the base 121 and the other end of which is connected to the support component 11. The lifting drive component is used to drive the support component 11 to lift.

[0096] The lifting drive component can be a linear drive component, such as a hydraulic cylinder, an electric push rod, or a lead screw nut.

[0097] In this embodiment, after the automated guided vehicle 3 is moved onto the transport device, the support component 11 can be raised a certain distance by the lifting drive component to lift the main wheels 32 of the automated guided vehicle 3 off the ground. Since the weight of the automated guided vehicle 3 is mainly concentrated in the main body 31 located at the front, lifting the main wheels 32 located in the front area off the ground can reduce resistance. It can be moved mainly by the main drive walking component 12 of the transport device, making it easy to transfer the automated guided vehicle 3 by the transport device.

[0098] In some embodiments, such as Figure 3 As shown, the support component 11 includes a connecting portion 111 and two first support plates 112. The two first support plates 112 are spaced apart along the width direction x and extend along the length direction y. The connecting portion 111 is connected to the front ends of the two first support plates 112 and is used to limit the front end of the automated guided vehicle 3. The main drive walking component 12 is mounted on the connecting portion 111.

[0099] The connecting part 111 can limit the front end of the main vehicle body 31, and the auxiliary support component 2 can limit the rear end of the main vehicle body 31. The two work together to stably limit the automated guided vehicle 3. The width of the first support plate 112 and the distance between the two first support plates 112 can be determined according to the specific structural dimensions of the automated guided vehicle 3.

[0100] The connecting part 111 can be in the form of an isosceles triangle. Two first support plates 112 are respectively connected to the left and right corners of the connecting part 111. The apex of the connecting part 111 is higher than the base 121. A receiving part 111A is provided at the apex of the connecting part 111, and the receiving part 111A protrudes forward from the connecting part 111. The lifting drive component can be disposed in the receiving part 111A, with its top end installed in the connecting part 111 and its bottom end connected to the base 121. This structure can improve the overall strength of the support component 11, and the vertical plane formed by the triangular structure can play a good limiting role. It also facilitates the installation of the lifting drive component.

[0101] For example, the lifting drive component is a hydraulic cylinder, and the operating arm 123 may also include a lifting control element 123C, such as a pressure rod. The top of the support rod 123A passes through the hollow area of ​​the annular handheld part 123B. The lifting control element 123C is provided on the support rod 123A and located in the annular handheld part 123B. A manual valve may also be provided in the receiving part 111A. The manual valve and the lifting control element 123C can be connected by a traction member. The traction member can be located in the support rod 123A. By operating the lifting control element 123C, the manual valve can be controlled to realize the action of the lifting drive component.

[0102] Two first support plates 112 are spaced apart along the width direction x to jointly support the main vehicle body 31. The first support plate 112 is a long strip structure that extends along the length direction y, for example, its length is about 1200mm. The first support plate 112 can be a plate structure, for example, made of steel plate to improve strength. The width of the front section of the first support plate 112 can be greater than the width of the rear section, which can improve the overall strength of the support component 11 and reduce the weight of the handling assembly 1.

[0103] This embodiment, by setting first support plates 112 at intervals on the left and right sides, can not only provide good support for the main vehicle body 31, but also significantly reduce weight and avoid structural components at the bottom of the main vehicle body 31, such as charging arms. Moreover, the rear end of the first support plate 112 is a free end, which also facilitates the installation of auxiliary support components 2.

[0104] In some embodiments, there are two auxiliary support components 2, which are detachably disposed at the rear ends of the two first support plates 112.

[0105] In this embodiment, two auxiliary support components 2 are respectively installed at the rear ends of the two first support plates 112, which can reduce the volume and weight of the auxiliary support components 2, and enable the installation of the auxiliary support components 2 more flexibly, making it easier to limit the rear end of the main vehicle body 31.

[0106] In some embodiments, such as Figure 13 As shown, the support component 11 also includes two sets of auxiliary wheels 113, respectively disposed at the bottom of the two first support plates 112. Each set of auxiliary wheels 113 may include multiple auxiliary wheels 113 arranged along the length direction y. The auxiliary wheels 113 may be located in the middle region of the first support plate 112 along the length direction y.

[0107] Since the support component 11 has a large length dimension y, and based on the first traveling wheel 122 at the front end of the transport device and the auxiliary support component 2 at the rear end, the addition of auxiliary traveling wheels 113 in the middle area can improve the stability of the transport device during the transfer process, making it less likely to tip over. Moreover, the auxiliary traveling wheels 113 can further increase the flexibility of the transport device and improve the efficiency of the automatic guided transport vehicle 3.

[0108] In some embodiments, such as Figure 4 As shown, the auxiliary support assembly 2 includes: a second support plate 21, disposed above the support member 11; and a base plate 26, disposed below the support member 11; bolts 23, passing through the second support plate 21 and the base plate 26 from top to bottom; and positioning pins 24, passing through the second support plate 21, the support member 11 and the base plate 26 from top to bottom, to position and install the auxiliary support assembly 2 on the support member 11.

[0109] The second support plate 21 and the base plate 26 are spaced apart in the height direction z, allowing the rear end of the first support plate 112 to pass through the space between them. After passing through, the second support plate 21 and the first support plate 112 remain spaced apart, while the base plate 26 and the first support plate 112 may have a gap or be in contact. In the case of contact, the base plate 26 can provide support for the rear end of the first support plate 112, making it more stable and less prone to deformation, and also enabling the rapid assembly of the auxiliary support assembly 2.

[0110] like Figure 7A and Figure 7B As shown, the second support plate 21 can be of an I-shape, including a middle connecting plate and two side plates. The middle connecting plate connects the two side plates, which are located on both sides of the first support plate 112. The middle connecting plate spans across the first support plate 112. The side plates can be of a rectangular structure, and by widening them, two second traveling wheels 22 can be installed in the length direction x to improve support stability. A weight-reducing groove 211 can be provided on the first support plate 112 to reduce weight.

[0111] like Figure 8A and Figure 8B As shown, the base plate 26 can be rectangular, or the four corners of the rectangular structure can be chamfered to reduce weight. The base plate 26 may include a base plate 261 and a protrusion 262. The protrusion 262 may extend above the base plate 261, and a threaded hole 264 is provided on the protrusion 262, into which a bolt 23 is screwed. By increasing the length of the threaded engagement portion, the weight of the automated guided vehicle 3 can be supported more reliably when the support component 11 is lifted by the base plate 26. In addition, a pin hole 263 is provided between the two protrusions 262 on the base plate 26, through which a positioning pin 24 passes.

[0112] like Figures 6A to 6C Bolt 23 connects the second support plate 21 and the base plate 26 into a whole, and positioning pin 24 connects the second support plate 21 and the base plate 26 to the second support plate 21 to realize the connection between the transport assembly 1 and the auxiliary support assembly 2. It can also realize the precise positioning of the auxiliary support assembly 2 on the transport assembly 1, so as to play a better limiting role on the rear end of the main vehicle body 31 and prevent the automatic guide transport vehicle 3 from shaking significantly during the transfer process.

[0113] In some embodiments, two bolts 23 are provided, spaced apart along the width direction x, and a locating pin 24 is located between the two bolts 23. The two bolts 23 can be located on opposite sides of the first support plate 112 along the width direction x. The structure of the locating pin 24 is as follows... Figure 9 As shown, the structure of bolt 23 is as follows: Figure 10 As shown.

[0114] This embodiment can improve the connection reliability between the second support plate 21 and the base plate 26, and also ensure the positioning accuracy of the auxiliary support component 2 during installation.

[0115] In some embodiments, such as Figure 5 As shown, the base plate 26 is provided with a threaded hole 264, and the threaded section of the bolt 23 is engaged with the threaded hole 264. The base plate 26 is configured to lift and lower by turning the bolt 23.

[0116] Furthermore, by setting the thrust bearing 25, it is easier to adjust the height of the base plate 26, and it is also easier to lift the rear end of the support component 11 through the base plate 26.

[0117] In this embodiment, the bolt 23 not only connects the second support plate 21 and the base plate 26, but also allows the base plate 26 to be raised or lowered by tightening the bolt 23, for example, by using a wrench or other tooling. Thus, the initial position of the base plate 26 can be relatively low. After the first support plate 112 passes through the gap between the second support plate 21 and the base plate 26, the position of the base plate 26 is raised to contact the first support plate 112 of the support member 11 by tightening the bolt 23. Further tightening the bolt 23 to raise the position of the base plate 26 can lift the second end of the first support plate 112, thereby raising the rear end of the main vehicle body 31. This allows the main wheels 32 located in the front area of ​​the main vehicle body 31 to be reliably lifted off the ground, reducing resistance. The movement is mainly achieved through the main drive walking component 12 of the transport device, making it easy to transfer the automated guided vehicle 3 via the transport device.

[0118] The distance by which the front end of the support component 11 is lifted by the lifting drive component is close to the distance by which the rear end of the support component 11 is lifted by the bolts 23, so as to reliably lift the main wheels 32 in the front area of ​​the bottom of the main vehicle body 31 off the ground and keep the main vehicle body 31 as level as possible. After lifting, the transport device can be moved away from its original running path by the operating arm 123. At this time, the automated guided vehicle 3 is supported by the transport component 1 and the auxiliary support component 2. The lifting process of the front and rear ends of the support component 11 can be carried out independently or simultaneously. After the main wheels 32 leave the ground, since the auxiliary wheels 35 on the extension arm 34 are far from the main vehicle body 31, these two auxiliary wheels 35 do not leave the ground, which can keep the automated guided vehicle 3 stable.

[0119] In some embodiments, such as Figure 4 As shown, the auxiliary support assembly 2 also includes a thrust bearing 25, which is located between the head of the bolt 23 and the second support plate 21.

[0120] Therefore, when tightening bolt 23, the tightening resistance can be reduced, and the wear on the second support plate 21 can be reduced. Figure 10As shown, in order to make the bolt 23 cooperate with the thrust bearing 25, a thrust plate is provided between the head of the bolt 23 and the shank. The diameter of the thrust plate is larger than the outer circle diameter of the head of the bolt 23, and the thrust plate abuts against the top of the thrust bearing 25.

[0121] Specifically, such as Figure 7A and Figure 7B The first support plate 112 is provided with a groove 212, and a through hole 213 is provided at the bottom of the groove 212. At least part of the thrust bearing 25 is provided in the groove 212, and the bolt 23 passes through the through hole 213. There is a gap between the bolt 23 and the through hole 213.

[0122] In some embodiments, the auxiliary support assembly 2 further includes a second traveling wheel 22 for enabling movement of the auxiliary support assembly 2. The second traveling wheel 22 may be a swivel wheel or an all-directional wheel, or a regular wheel that is rotatable in 360°, mounted on the base plate 26 to flexibly change the direction of travel. For example, a second traveling wheel 22 may be provided at each of the four corners of the bottom of the second support plate 21.

[0123] This embodiment, together with the first traveling wheel 122, can support the front and rear ends of the support component 11, making the transport device more stable during transfer, less prone to tipping over, and enabling flexible movement. Since the automated guided vehicle 3 is relatively heavy, the first traveling wheel 122 at the front, the auxiliary traveling wheel 113 in the middle area, and the second traveling wheel 22 at the rear end can minimize travel resistance, improve transfer efficiency, and enhance stability during movement.

[0124] In some embodiments, such as Figure 3 and Figure 11 As shown, the conveying assembly 1 further includes: two first fixing parts 13, respectively disposed on both sides of the support part 11 along the width direction x, and located in the area near the front of the support part 11; and two adjusting fasteners 14, respectively screwed onto the two first fixing parts 13, and the screwing position of the adjusting fasteners 14 along the width direction x is adjustable.

[0125] The first fixing component 13 may be plate-shaped and vertically arranged. The first fixing component 13 may include a first part 131 and a second part 132. The height of the first part 131 is greater than that of the second part 132, forming an L-shaped structure. This reduces the weight of the first fixing component 13 and allows the second part 132 to be spaced apart from the first support plate 112. The first part 131 can be fastened to the connecting portion 111 of the support component 11 using fasteners. Adjustable fasteners 14 are installed on the area of ​​the second part 132 away from the first part 131.

[0126] This embodiment can change the length of the adjusting fastener 14 located inside the first fixing component 13, and through the adjusting fasteners 14 on both sides, the supporting component 11 can be moved left and right relative to the main vehicle body 31, so that the main vehicle body 31 is positioned at a suitable position in the width direction x of the supporting component 11. This avoids the supporting component 11 hitting the bottom of the main vehicle body 31 where it cannot bear force or important parts where it cannot bear force, such as the charging arm, when it is lifted, thus improving the safety when transferring the automated guided vehicle 3.

[0127] In some embodiments, such as Figure 1 As shown, the automated guided vehicle 3 includes two crossbeams 33 and two extension arms 34. The first ends of each of the two crossbeams 33 are respectively located in the rear area on both sides of the main vehicle body 31 and extend along the width direction x. The two extension arms 34 are respectively connected to the second ends of each of the two crossbeams 33 and extend rearward.

[0128] like Figure 3 As shown, the conveying assembly 1 also includes two second fixing parts 15, which are respectively disposed on both sides of the support part 11 along the width direction x. The second fixing parts 15 are located in the area near the rear of the support part 11 and in front of the auxiliary support assembly 2. The second fixing parts 15 are used to fix the crossbeam 33.

[0129] This embodiment enables the crossbeam 33 to be locked by the second fixing component 15 after the automated guided vehicle 3 is moved onto the transport device, so as to reliably fix the crossbeam 33 extending outside the main vehicle body 31 and prevent the automated guided vehicle 3 from shaking during the transfer of the transport device.

[0130] In some embodiments, the second fixing member 15 is detachably disposed on the support member 11.

[0131] Before inserting the two first support plates 112 of the support component 11 into the bottom of the main body 31, the two second fixing components 15 can be removed to make it easier to insert the first support plates 112 into the bottom of the main body 31. After the first support plates 112 are inserted into the bottom of the main body 31 and the auxiliary support assembly 2 is installed, the second fixing components 15 can be installed on the side of the first support plates 112 so that the second fixing components 15 press against the crossbeam 33. At this time, the second fixing components 15 are basically in contact with the side of the main body 31, and the main body 31 can be locked.

[0132] This embodiment ensures that the support component 11 is not obstructed by the second fixing component 15 before being inserted into the bottom of the main vehicle body 31, and that the automated guided vehicle 3 is locked and fixed after being moved onto the transport device to prevent shaking during the transfer process.

[0133] In some embodiments, such as Figure 12As shown, the second fixing component 15 includes a crossbar 151 and two uprights 152. The bottom ends of the two uprights 152 are connected to the support component 11 and are located on the front and rear sides of the crossbeam 33, respectively. The two ends of the crossbar 151 are connected to the top ends of the two uprights 152, and the crossbar 151 presses on the crossbeam 33.

[0134] The second fixing component 15 of this embodiment can be easily disassembled and installed, and can reliably press down on the crossbeam 33 and limit the degree of freedom of the crossbeam 33 along the length direction y. It not only has a simple structure, but also has a better fixing effect.

[0135] Secondly, this disclosure also provides a handling method based on the automated guided vehicle (AGV) handling device described in the above embodiments. In some embodiments, the handling method includes:

[0136] Step 110: Move the transport assembly 1 backward so that the support component 11 passes through the bottom of the main body 31 from front to back;

[0137] Step 120: After the transport component 1 has moved back into place, connect the auxiliary support component 2 to the rear end of the support component 11 to limit the rear end of the main vehicle body 31.

[0138] Step 130: The main drive walking component 12 causes the handling device to drag the automatic guide transport vehicle 3 to move.

[0139] Steps 110 to 130 are executed sequentially.

[0140] The handling method of this embodiment can quickly remove the faulty automated guided vehicle (AGV) 3, so as to conveniently drag the AGV 3 and the tobacco boxes it carries to the maintenance area, ensuring that other AGV 3 can operate smoothly in the system line, avoiding affecting the operating efficiency of other AGV 3. It is simple to operate, accurate in positioning, stable in bearing, and can quickly transfer the faulty vehicle, improving the efficiency of removing the faulty vehicle from the system and ensuring the smooth operation of the tobacco production process.

[0141] In some embodiments, before the automated guided vehicle 3 is dragged and transferred in step 130, the handling method further includes:

[0142] Step 122: The support component 11 is lifted by the lifting drive component so that the main wheels 32 of the automatic guide transport vehicle 3 leave the ground.

[0143] Step 122 is performed between steps 120 and 130.

[0144] In this embodiment, after the automated guided vehicle 3 is moved onto the transport device, the support component 11 can be raised a certain distance by the lifting drive component to lift the main wheels 32 of the automated guided vehicle 3 off the ground. Since the weight of the automated guided vehicle 3 is mainly concentrated in the main body 31 located at the front, lifting the main wheels 32 located in the front area off the ground can reduce resistance. It can be moved mainly by the main drive walking component 12 of the transport device, making it easy to transfer the automated guided vehicle 3 by the transport device.

[0145] In some embodiments, the auxiliary support assembly 2 includes: a second support plate 21, a base plate 26, bolts 23, and positioning pins 24. The base plate 26 is spaced below the second support plate 21, and the base plate 26 and the second support plate 21 are connected by bolts 23. The step of connecting the auxiliary support assembly 2 to the rear end of the support member 11 in step 120 includes:

[0146] The rear end of the support component 11 passes between the second support plate 21 and the base plate 26;

[0147] With the second support plate 21 abutting against the rear end of the main vehicle body 31, the positioning pin 24 passes through the second support plate 21, the support component 11 and the base plate 26 in sequence.

[0148] This embodiment can easily connect the auxiliary support component 2 to the rear end of the support component 11, and can also ensure the positioning accuracy of the auxiliary support component 2 during installation.

[0149] In some embodiments, the base plate 26 is provided with a threaded hole 264, and the threaded section of the bolt 23 engages with the threaded hole 264; before the automatic guided transport vehicle 3 is dragged and transferred in step 130, the handling method further includes:

[0150] Tighten bolt 23 to raise base plate 26 so that auxiliary wheels 35 of automated guided vehicle 3 can leave the ground via support member 11.

[0151] In this embodiment, the base plate 26 can be raised or lowered by tightening the bolt 23. The initial position of the base plate 26 can be relatively low. After the first support plate 112 passes through the gap between the second support plate 21 and the base plate 26, the position of the base plate 26 is raised to contact the first support plate 112 of the support component 11 by tightening the bolt 23. When the position of the base plate 26 is raised by further tightening the bolt 23, the second end of the first support plate 112 can be raised by the base plate 26 to lift the rear end of the main vehicle body 31, so that the main wheel 32 located in the front area of ​​the main vehicle body 31 can be reliably lifted off the ground to reduce resistance. It is mainly moved by the main drive walking component 12 of the handling device, and the automatic guided transport vehicle 3 can be easily transferred by the handling device.

[0152] In some embodiments, the transport assembly 1 further includes: two first fixing members 13, respectively disposed on both sides of the support member 11 along the width direction x; and two adjusting fasteners 14, respectively screwed onto the two first fixing members 13, and the screwing position of the adjusting fasteners 14 along the width direction x is adjustable. Before step 110, which causes the support member 11 to pass through the bottom of the main vehicle body 31 from front to back, the transport method further includes:

[0153] Step 100: Adjust the screw positions of the two adjusting fasteners 14 to position the automated guided vehicle 3 on the support component 11 along the width direction x.

[0154] This embodiment can change the length of the adjusting fastener 14 located inside the first fixing component 13, and through the adjusting fasteners 14 on both sides, the supporting component 11 can be moved left and right relative to the main vehicle body 31, so as to position the main vehicle body 31 in a suitable position in the width direction x of the supporting component 11, so as to avoid the supporting component 11 hitting the charging arm at the bottom of the main vehicle body 31 when it is lifted, and improve the safety when transferring the automated guided vehicle 3.

[0155] In some embodiments, the transport assembly 1 further includes: two second fixing members 15, respectively disposed on both sides of the support member 11 along the width direction x, the second fixing members 15 being used to fix the crossbeam 33 on the side of the main vehicle body 31; the transport method further includes:

[0156] Before passing the support member 11 through the bottom of the main body 31 from front to back, remove the two second fixing members 15 from the support member 11;

[0157] After connecting the auxiliary support assembly 2 to the rear end of the support component 11, two second fixing components 15 are installed on the support component 11 to fix the crossbeams 33 on both sides of the automated guided vehicle 3 through the two second fixing components 15 respectively.

[0158] This embodiment ensures that the support component 11 is not obstructed by the second fixing component 15 before being inserted into the bottom of the main vehicle body 31, and that the automated guided vehicle 3 is locked and fixed after being moved onto the transport device to prevent shaking during the transfer process.

[0159] In some embodiments, the transport method further includes:

[0160] After transferring the automated guided vehicle 3, delete the corresponding job task from the warehouse management system.

[0161] This embodiment enables the updating of tasks in the warehouse management system after the current automated guided vehicle 3 is removed, ensuring the smooth and continuous operation of the entire production process.

[0162] In one specific embodiment, the method for handling the automated guided vehicle 3 using the handling device of this disclosure is as follows: when the AGV malfunctions, it needs to be quickly removed from the AGV path to the maintenance area and the device is deleted from the system to ensure the normal operation of other AGV devices.

[0163] First, the adjusting fastener 14 on the first fixing component 13 can be adjusted according to the position of the charging arm so that the first support plate 112 can avoid the position of the charging arm. Then, the two second fixing components 15 are removed from the first support plate 112.

[0164] Next, the position of the transport assembly 1 is controlled by the operating arm 123 to adjust the position of the first fixed component 13 in all directions. Then, the first support plate 112 is aligned with the front of the main body 31, and the first support plate 112 moves backward along the bottom of the main body 31. After reversing into position, the auxiliary support assembly 2 lowers the base plate 26 to a lower initial position, and the first support plate 112 passes through the space between the second support plate 21 and the base plate 26. The auxiliary support assembly 2 moves forward along the end of the first support plate 112. When it reaches the positioning hole on the first support plate 112, the positioning pin 24 is passed through the second support plate 21, the first support plate 112, and the base plate 26 from above the second support plate 21 to fix the auxiliary support assembly 2 to the end of the first support plate 112.

[0165] The lifting control element 123C is operated to control the lifting drive component to lift the first support plate 112. Simultaneously, a wrench is used to lift the bolts 23 of the two auxiliary support components 2 on the left and right sides, causing the AGV's main wheels 32 to lift off the ground. To prevent the AGV from detaching from the support component 11 during movement, a second fixing component 15 is used to fix the AGV's crossbeam 33 to the first support plate 112, thus securing the AGV.

[0166] After the transport component 1 and the auxiliary support component 2 are positioned, the AGV can be moved quickly by simply dragging the operating arm 123.

[0167] This embodiment achieves a simple, accurate, stable, and rapidly moving AGV, improving the efficiency of removing AGVs from the system. It also features a compact structure, convenient operation, and high reliability, effectively ensuring production. In actual production, adopting this technical solution reduces the workload of equipment maintenance personnel, the need for forklift operators, and the waste of human resources. This handling device allows for the rapid removal of AGVs from the system when they malfunction and stop, preventing AGV blockages, task backlogs, material transport interruptions, and production disruptions. It enables timely and effective handling of sudden failures, ensuring the stability of system operation. This technical solution is also suitable for other AGVs or other mobile devices with similar structures, and its adoption has shown good results.

[0168] The above description is merely an exemplary embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. An automated guided vehicle (AGV) handling device, characterized in that, The automated guided vehicle (3) is used for tobacco storage and includes a main body (31), two crossbeams (33) and two extension arms (34). The first ends of the two crossbeams (33) are respectively located in the rear area on both sides of the main body (31) and extend along the width direction (x). The two extension arms (34) are respectively connected to the second ends of the two crossbeams (33) and extend rearward. The conveying device includes: The transport assembly (1) includes: a support component (11), a main drive walking component (12), and a lifting drive component. The support component (11) includes: two first support plates (112) spaced apart along the width direction (x) and the first support plates (112) extending along the length direction (y). The support component (11) is used to pass through the bottom of the automated guided vehicle (3) from front to back to support the main vehicle body (31) during transfer, and the support component (11) extends beyond the main vehicle body (31) in the length direction (y). The main drive walking component (12) includes: first walking wheels (122) for realizing the movement of the transport assembly (1). The main drive walking component (12) is connected to the front end of the support component (11) for realizing the transfer of the transport device. The main drive walking component (12) includes a base (121). One end of the lifting drive component is connected to the base (121), and the other end is connected to the support component (11). The lifting drive component is used to drive the support component (11) to lift. Two auxiliary support components (2) are detachably connected to the rear ends of the two first support plates (112), and the auxiliary support components (2) are used to limit the rear end of the main body (31); the auxiliary support components (2) include: a second support plate (21) disposed above the support member (11); a base plate (26) disposed below the support member (11), the base plate (26) having threaded holes (264); and bolts (23) passing through the second support plate (21) from top to bottom. The base plate (26) and the bolt (23) are configured to be raised and lowered by turning the bolt (23); the positioning pin (24) passes through the second support plate (21), the support member (11) and the base plate (26) from top to bottom to position the auxiliary support assembly (2) on the support member (11); and the second traveling wheel (22) is used to realize the movement of the auxiliary support assembly (2); and Two second fixing components (15) are detachably disposed on both sides of the support component (11) along the width direction (x). The second fixing components (15) are located in the area near the rear of the support component (11) and in front of the auxiliary support assembly (2). The second fixing components (15) are used to fix the crossbeam (33). The second fixing components (15) include: a crossbar (151) and two uprights (152). The bottom ends of the two uprights (152) are connected to the support component (11) and are located on the front and rear sides of the crossbeam (33). The two ends of the crossbar (151) are connected to the top ends of the two uprights (152). The crossbar (151) presses on the crossbeam (33).

2. The automated guided vehicle (AGV) handling device according to claim 1, characterized in that, The main drive walking component (12) also includes: An operating arm (123) is connected to the first traveling wheel (122) through the base (121) at its bottom, and the operating arm (123) is rotatable relative to the base (121) to drive the first traveling wheel (122) to turn.

3. The automated guided vehicle (AGV) handling device according to claim 1, characterized in that, The support component (11) includes: A connecting part (111) is connected to the front end of the two first support plates (112), and the connecting part (111) is used to limit the front end of the automated guided vehicle (3); The main drive walking component (12) is installed on the connecting part (111).

4. The automated guided vehicle (AGV) handling device according to claim 3, characterized in that, The support component (11) also includes: Two sets of auxiliary walking wheels (113) are respectively located at the bottom of the two first support plates (112).

5. The automated guided vehicle (AGV) handling device according to claim 1, characterized in that, Two bolts (23) are provided, and the two bolts (23) are spaced apart along the width direction (x). The locating pin (24) is located between the two bolts (23).

6. The automated guided vehicle (AGV) handling device according to claim 1, characterized in that, The auxiliary support component (2) also includes: A thrust bearing (25) is disposed between the head of the bolt (23) and the second support plate (21).

7. The automated guided vehicle (AGV) handling device according to any one of claims 1 to 4, characterized in that, The transport assembly (1) further includes: Two first fixing components (13) are respectively disposed on both sides of the support component (11) along the width direction (x), and located in the region of the support component (11) near the front; and Two adjusting fasteners (14) are screwed onto the two first fixing parts (13) respectively, and the screwing position of the adjusting fasteners (14) along the width direction (x) is adjustable.

8. A method for handling materials, characterized in that, The automated guided vehicle (AGV) handling device according to any one of claims 1 to 7 includes: The transport assembly (1) is moved back so that the support member (11) passes through the bottom of the main body (31) from front to back; After the transport assembly (1) is moved back into position, the auxiliary support assembly (2) is connected to the rear end of the support component (11) to limit the rear end of the main vehicle body (31); The main drive walking component (12) causes the transport device to drag the automated guided vehicle (3) to move.

9. The handling method according to claim 8, characterized in that, Before the automated guided vehicle (3) is towed for transfer, the handling method further includes: The support component (11) is lifted by the lifting drive component so that the main wheels (32) of the automated guided vehicle (3) leave the ground.

10. The handling method according to claim 8, characterized in that, The auxiliary support assembly (2) includes: a second support plate (21), a base plate (26), bolts (23), and positioning pins (24). The base plate (26) is spaced below the second support plate (21), and the base plate (26) and the second support plate (21) are connected by the bolts (23). The step of connecting the auxiliary support assembly (2) to the rear end of the support component (11) includes: The rear end of the support member (11) passes between the second support plate (21) and the base plate (26); With the second support plate (21) abutting against the rear end of the main vehicle body (31), the positioning pin (24) passes through the second support plate (21), the support component (11) and the base plate (26) in sequence.

11. The handling method according to claim 10, characterized in that, The base plate (26) is provided with a threaded hole (264), and the threaded section of the bolt (23) engages with the threaded hole (264); before the automated guided vehicle (3) is moved, the handling method further includes: Tighten the bolt (23) to raise the base plate (26) so that the auxiliary wheels (35) of the automated guided vehicle (3) can be lifted off the ground via the support member (11).

12. The handling method according to claim 8, characterized in that, The transport assembly (1) further includes: two first fixing parts (13), respectively disposed on both sides of the support part (11) along the width direction (x); and two adjusting fasteners (14), respectively screwed onto the two first fixing parts (13), and the screwing position of the adjusting fasteners (14) along the width direction (x) is adjustable; The transport method further includes, before passing the support member (11) through the bottom of the main body (31) from front to back: Adjust the screw positions of the two adjusting fasteners (14) to position the automated guided vehicle (3) on the support member (11) along the width direction (x).

13. The handling method according to claim 8, characterized in that, The transport assembly (1) further includes: two second fixing components (15), respectively disposed on both sides of the support component (11) along the width direction (x), the second fixing components (15) being used to fix the crossbeams (33) on the side of the main vehicle body (31); the transport method further includes: Before passing the support member (11) through the bottom of the main body (31) from front to back, remove the two second fixing members (15) from the support member (11); After connecting the auxiliary support assembly (2) to the rear end of the support component (11), two second fixing components (15) are installed on the support component (11) to fix the crossbeams (33) on both sides of the automated guided vehicle (3) by the two second fixing components (15).

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