An automated guided vehicle

Abstract

The application discloses an automatic transport vehicle, which comprises a vehicle frame, a conveying mechanism and an adjusting mechanism, wherein the conveying mechanism is provided with a conveying plane; the adjusting mechanism and the conveying mechanism are arranged in avoidance, the adjusting mechanism comprises an adjusting driving part and a limiting plate, the mounting end of the adjusting driving part is fixed on the vehicle frame, and the limiting plate is connected to the driving end of the adjusting driving part. The limiting plate and the vehicle frame are driven to slide relative to each other by the adjusting driving part, and the intersection position of the limiting end surface of the limiting plate and the conveying plane is adjusted, so as to realize the adjustment of the conveying width of the conveying plane, and the conveying mechanism can be adapted to trays with different widths, the use requirement of trays with different sizes can be met, the flexible conveying capacity of the automatic transport vehicle is improved, and the application scene of conveying workpieces with different sizes can be met.

Description

Technical Field

[0001] This invention relates to the field of automated transport vehicle technology, and specifically to an automated transport vehicle. Background Technology

[0002] Automated Guided Vehicles (AGVs) are typically equipped with electromagnetic or optical navigation devices, enabling them to travel along predetermined navigation paths. They also feature safety protection and various transfer functions. AGVs are commonly used transport vehicles in automated production lines and are widely used in industrial production.

[0003] Current transfer AGVs are typically designed to match the workpiece to be transported. During transport, the workpiece is placed on a pallet, and then external mechanical equipment is used to place the pallet and the workpiece on it onto the transfer AGV. The transfer AGV uses a fixed design for pallet transport guidance, and the transport mode can only be used for a single pallet size. It cannot meet the needs of using pallets of different sizes and specifications, which limits the ability of automated transport vehicles to flexibly transport workpieces of different sizes, thus limiting the application scenarios of transfer AGVs. Summary of the Invention

[0004] The technical problem to be solved, or at least partially solved, by the present invention is that, in the related technologies, the conveying of the transfer AGV working mode can only be for a single pallet size, which cannot meet the needs of using pallets of different sizes and specifications, thus limiting the ability of automated transport vehicles to flexibly transport workpieces of different sizes, and thus limiting the application scenarios of transfer AGVs.

[0005] This invention provides an automated transport vehicle, comprising:

[0006] Frame;

[0007] A conveying mechanism is mounted on the vehicle frame, and a conveying plane is provided on the conveying mechanism;

[0008] The system includes an adjustment mechanism that is disposed in a way that avoids the conveying mechanism. The adjustment mechanism includes an adjustment drive and a limiting plate. The mounting end of the adjustment drive is fixed on the frame. The limiting plate is connected to the drive end of the adjustment drive. The limiting end face of the limiting plate intersects with the conveying plane. The limiting plate extends along the length direction of the conveying plane.

[0009] Under the driving action of the adjusting drive component, the limiting plate and the vehicle frame slide relative to each other to adjust the conveying width of the conveying plane.

[0010] Optionally, the adjustment mechanism is equipped with two adjustment components spaced apart from each other. Each adjustment component includes the adjustment drive and the limiting plate. The two limiting plates are respectively located on both sides of the center line of the conveying plane. The adjustment drive drives the limiting plate to slide relative to the frame, so that the two limiting plates move closer or further apart, thereby adjusting the conveying width of the conveying plane.

[0011] Optionally, the adjusting drive is disposed below the conveying plane, the driving direction of the adjusting drive is inclined to the conveying plane, and the adjusting drive is configured as a telescopic structure.

[0012] Optionally, the adjustment mechanism further includes an adapter seat, with the two adjustment components disposed opposite each other on both sides of the adapter seat, and the mounting end of the adjustment drive component hinged to the adapter seat, which is configured as a ball joint structure or a shaft joint structure.

[0013] The adjusting component also includes a connecting seat, which is fixedly connected to the limiting plate, and the driving end of the adjusting drive is hinged to the connecting seat.

[0014] Optionally, the automated transport vehicle further includes at least one sliding assembly, which includes a sliding plate and a guide rail that are slidably configured. The guide rail is parallel to the width direction of the conveying plane. The sliding plate and the limiting plate are fixedly connected. The guide rail is mounted on the end face of the frame facing the limiting plate.

[0015] Optionally, the sliding plate is provided with a connecting portion, the connecting portion and the sliding plate are correspondingly and fixedly disposed, the connecting portion has a notch structure, the sliding plate is constructed with a protrusion structure, the notch structure and the protrusion structure are conformally connected, and the height of the protrusion structure is lower than the height of the conveying plane; and / or

[0016] The sliding plate is provided with a positioning part, which abuts against the back side of the limiting plate away from its limiting end face; the limiting plate is provided with a fixing part, which extends along the length direction of the limiting plate and abuts against the positioning part above it.

[0017] Optionally, the limiting plate is provided with a connecting portion, the connecting portion is installed below the conveying plane, and the connecting seat is fixed on the side of the connecting portion facing the conveying plane; and / or

[0018] The limiting plate has a guide portion at its end along its length direction, and the guide portion and the limiting end face of the limiting plate are inclined to each other.

[0019] Optionally, the automated transport vehicle further includes a locking mechanism fixed to the frame; the locking mechanism has a connected state in which the frame and the limiting plate are relatively locked, and an unlocked state in which the frame and the limiting plate are released from relative locking.

[0020] Optionally, the conveying mechanism includes a conveying drive component, a transmission assembly, and multiple support cylinders. The conveying drive component is mounted on the vehicle frame, and the transmission assembly is disposed between the conveying drive component and the multiple support cylinders to drive the multiple support cylinders to move synchronously under the driving action of the conveying drive component. Each support cylinder is rotatably mounted on the vehicle frame, and the multiple support cylinders are arranged parallel to each other and spaced apart along the conveying direction of the conveying mechanism. The multiple support cylinders are arranged at the same height to jointly form the conveying plane, and the limiting plate and the support cylinders are arranged to avoid each other.

[0021] Optionally, the limiting plate is provided with a plurality of clearance portions, which are used to avoid the support cylinder; and / or

[0022] The conveying mechanism further includes a bearing component mounted on the vehicle frame, with the end of the support cylinder rotatably disposed within the bearing component, and the bearing component being configured as a floating bearing; and / or

[0023] The frame is provided with a first fixed plate and a second fixed plate that are spaced apart from each other. The adjustment mechanism is equipped with two adjustment components, which are respectively installed on the first fixed plate and the second fixed plate. The frame is provided with a connecting member, which is located away from the feeding side of the conveying mechanism. One end of the connecting member is fixed to the first fixed plate, and the other end of the connecting member is fixed to the second fixed plate. Several buffer members are provided on the connecting member in the direction of the inlet and outlet side of the conveying mechanism.

[0024] Optionally, the automated transport vehicle further includes a blocking mechanism disposed on the entry / exit side of the conveying mechanism. The blocking mechanism includes a mounting base and a blocking drive, a blocking rod, and a return spring connected to the mounting base. The mounting base is fixedly connected to the vehicle frame. The return spring is sleeved on the blocking rod. The blocking drive and the return spring are used to drive the blocking rod to move up and down, so that the blocking rod approaches or moves away from the conveying plane.

[0025] Optionally, the blocking mechanism further includes a rotating block and a lifting plate. The rotating block is installed at the driving end of the blocking drive member, and the lifting plate is slidably installed in the mounting base. The blocking rod and the lifting plate are fixedly connected. The blocking drive member drives the rotating block to rotate so as to abut against the lifting plate and the blocking rod and descend synchronously. During the descent stroke of the blocking rod, the return spring has a biasing force that causes the lifting plate to rise. The blocking rod passes through the mounting base.

[0026] Optionally, the rotating block is provided with rollers, and the rollers are arranged in abutment with the lifting plate; and / or

[0027] One end of the lifting plate is provided with a trigger, and the mounting base is provided with a first detection element and a second detection element arranged at intervals. Either detection element is adapted to sense the trigger. The first detection element and the second detection element are used to detect the lifting stroke of the lifting plate and the blocking rod; and / or

[0028] The mounting base is provided with a guide groove, and the guide groove and the lifting plate are slidably abutted together.

[0029] The technical solution provided by this invention has the following advantages:

[0030] 1. The automated transport vehicle provided by this invention includes a frame, a conveying mechanism, and an adjusting mechanism. The conveying mechanism has a conveying plane. The adjusting mechanism is arranged to avoid overlap with the conveying mechanism. The adjusting mechanism includes an adjusting drive and a limiting plate. The mounting end of the adjusting drive is fixed to the frame, and the limiting plate is connected to the driving end of the adjusting drive. The limiting plate extends along the length of the conveying plane. By adjusting the drive, the limiting plate and the frame slide relative to each other, adjusting the intersection position of the limiting end face of the limiting plate and the conveying plane. This allows for adjustment of the conveying width of the conveying plane, enabling the conveying mechanism to adapt to pallets of different widths. It can meet the usage requirements of pallets of different sizes and specifications, improving the flexible conveying capability of the automated transport vehicle and thus satisfying application scenarios involving the conveying of workpieces of different sizes.

[0031] 2. The automatic transport vehicle provided by the present invention has an adjustment mechanism with two adjustable components spaced apart from each other. Each adjustable component includes an adjustment drive and a limiting plate. The two adjustable components adjust the width of the conveying plane on both sides. The adjustment drive drives the limiting plate to slide relative to the frame, so that the two limiting plates move closer or further apart, thereby adjusting the width of the conveying plane. It can realize the adjustment of the center distance of the conveying mechanism and flexibly adapt to pallets of different sizes and specifications.

[0032] 3. The automatic transport vehicle provided by the present invention has an adjustment drive component located below the conveying plane. The driving direction of the adjustment drive component is inclined to the conveying plane to optimize the loading space of the adjustment mechanism and promote a compact structure. The adjustment drive component is set as a telescopic structure. The telescopic movement of the adjustment drive component drives the relative sliding between the limiting plate and the frame to adjust the intersection position of the limiting end face of the limiting plate and the conveying plane, thereby realizing the adjustment of the conveying width of the conveying plane.

[0033] 4. The automatic transport vehicle provided by the present invention further includes a locking pin mechanism, which is fixed on the frame. The locking pin mechanism locks the frame and the limiting plate relative to each other, so that the limiting plate is relatively locked on the frame, and the automatic transport vehicle using the limiting plate has a certain width dimension for transporting workpieces. When it is necessary to adjust the width dimension of the automatic transport vehicle, the locking pin mechanism releases the locking of the frame and the limiting plate, so that the limiting plate can slide to flexibly adjust the transport width of the automatic transport vehicle.

[0034] 5. The automatic transport vehicle provided by the present invention has an adapter seat that hinges the mounting end of the adjustment drive component, and a connecting seat that hinges the driving end of the adjustment drive component. The connecting seat transmits the driving force of the adjustment drive component. The telescopic movement of the adjustment drive component drives the limiting plate to change the intersection position of its limiting end face and the conveying plane. The hinged form is conducive to the smooth operation of the adjustment mechanism in adjusting the conveying plane width. In this structure, the adjustment mechanism can obtain the effect of different sliding speeds of the two limiting plates, which is more conducive to the rapid opening of the travel area of ​​the two limiting plates adjacent to the center line of the conveying mechanism. Specifically, when the adjustment drive component has a consistent telescopic speed, the two limiting plates slide faster in the travel area adjacent to the center line of the conveying mechanism, and slide slower in the travel area far away from the center line of the conveying mechanism.

[0035] 6. The automatic transport vehicle provided by the present invention uses a frame to fix a guide rail and a limiting plate to a sliding plate. When the limiting plate is slidable by the adjustment drive component, the sliding component supports and guides the sliding of the limiting plate through the sliding cooperation between the guide rail and the sliding plate, so as to flexibly adjust the intersection position of the limiting end face of the limiting plate and the conveying plane, thereby achieving the purpose of adjusting the conveying width of the conveying plane.

[0036] 7. The automated transport vehicle provided by the present invention uses a blocking mechanism to block the pallet on the conveying mechanism. The blocking mechanism includes a blocking drive, a blocking rod, and a return spring. The blocking drive and the return spring are used to drive the blocking rod to move up and down, so that the blocking rod approaches or moves away from the conveying plane, thereby constituting a limit stop for the pallet on the conveying plane when the automated transport vehicle is working, preventing the pallet from leaving the conveying plane when the automated transport vehicle moves forward, backward, or turns, and enhancing the stable transport capability of the automated transport vehicle. Attached Figure Description

[0037] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the structure of the automated transport vehicle provided in an embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram of the conveying mechanism and adjusting mechanism in the automated transport vehicle provided in an embodiment of the present invention;

[0040] Figure 3 This is a partial schematic diagram of the conveying mechanism and adjusting mechanism in an automated transport vehicle provided in an embodiment of the present invention;

[0041] Figure 4 This is a schematic diagram showing the connection between the limiting plate and the sliding plate in an automated transport vehicle provided in an embodiment of the present invention;

[0042] Figure 5 This is a schematic diagram of the structure of the limiting plate in the automated transport vehicle provided in an embodiment of the present invention;

[0043] Figure 6 This is a schematic diagram of the assembly of the limiting plate and the sliding plate in the automated transport vehicle provided in an embodiment of the present invention;

[0044] Figure 7 This is a schematic diagram of the installation of the limiting plate and locking pin mechanism in the automated transport vehicle provided in an embodiment of the present invention;

[0045] Figure 8 This is a schematic diagram of the locking mechanism in an automated transport vehicle provided in an embodiment of the present invention;

[0046] Figure 9 This is a schematic diagram of the blocking mechanism in an automated transport vehicle provided in an embodiment of the present invention;

[0047] Figure 10 This is a partial schematic diagram of the blocking mechanism in an automated transport vehicle provided in an embodiment of the present invention;

[0048] Figure 11 This is a schematic diagram of the drive mechanism in an automated transport vehicle provided in an embodiment of the present invention;

[0049] Figure 12 This is a partial schematic diagram of the drive mechanism in an automated transport vehicle provided in an embodiment of the present invention;

[0050] Figure 13This is a partial schematic diagram of an automated transport vehicle provided in an embodiment of the present invention;

[0051] Explanation of reference numerals in the attached figures:

[0052] 1-Frame; 11-First mounting plate; 12-Second mounting plate; 13-Connector; 14-Edge guard; 15-Buffer component;

[0053] 2-Conveying mechanism; 21-Support cylinder; 22-Drive sprocket; 23-Bearing component;

[0054] 3-Adjusting mechanism; 31-Adjusting drive component; 32-Limiting plate; 321-Connecting part; 322-Connecting part; 323-Guide part; 324-Leaving part; 325-Fixing part; 326-Dating part; 33-Adapter seat; 34-Connecting seat; 35-Sliding plate; 351-Positioning part; 36-Guide rail;

[0055] 4-Blocking mechanism; 41-Mounting cover; 42-Blocking rod; 43-Mounting base; 431-Guide groove; 44-Blocking drive component; 45-Rotating block; 451-Roller; 46-Lifting plate; 461-Trigger component; 47-Reset spring; 48-First detection component; 49-Second detection component;

[0056] 51-PLC control module; 52-Navigation module; 53-Obstacle avoidance module; 54-Charging module; 55-Alarm module;

[0057] 6-Drive mechanism; 61-Assembly plate; 62-Assembly base; 63-First drive component; 64-Sprocket structure; 65-Connecting chain; 66-Walking wheel; 67-Steering gear; 68-Connecting gear; 69-Encoder;

[0058] 7-Locking pin mechanism; 71-Connecting frame; 72-Electric telescopic pin; 73-Locking spring; Detailed Implementation

[0059] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0060] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0061] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connection," "linking," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0062] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0063] Example

[0064] This embodiment provides an automated transport vehicle, see [link / reference] Figure 1 It includes a frame 1, a conveying mechanism 2 and an adjusting mechanism 3. The conveying mechanism 2 is equipped with a conveying plane. The conveying mechanism 2 is installed on the frame 1, and the adjusting mechanism 3 and the conveying mechanism 2 are arranged to avoid each other.

[0065] See Figure 3 The adjustment mechanism 3 includes an adjustment drive component 31 and a limiting plate 32. The mounting end of the adjustment drive component 31 is fixed to the frame 1, and the limiting plate 32 is connected to the drive end of the adjustment drive component 31. The limiting end face of the limiting plate 32 intersects with the conveying plane, and the limiting plate 32 extends along the length direction of the conveying plane. Under the driving action of the adjustment drive component 31, the limiting plate 32 and the frame 1 slide relative to each other to adjust the conveying width of the conveying plane. The limiting end face is the end face of the limiting plate 32 facing the middle area of ​​the conveying mechanism 2.

[0066] The limiting plate 32 extends along the length of the conveying plane. By adjusting the driving component 31, the limiting plate 32 and the frame 1 are driven to slide relative to each other. The position of the limiting end face of the limiting plate 32 intersecting the conveying plane is adjusted to adjust the conveying width of the conveying plane. This allows the conveying mechanism 2 to adapt to pallets of different widths, meet the usage requirements of pallets of different sizes and specifications, improve the flexible conveying capability of the automatic transport vehicle, and thus meet the application scenarios of conveying workpieces of different sizes.

[0067] In this embodiment, see Figure 2 The adjustment mechanism 3 is equipped with two adjustment components spaced apart from each other. Each adjustment component includes an adjustment drive 31 and a limiting plate 32. The two limiting plates 32 are respectively located on both sides of the center line of the conveying plane. The adjustment drive 31 drives the limiting plate 32 to slide relative to the frame 1, so that the two limiting plates 32 are close to or far away from each other, thereby adjusting the conveying width of the conveying plane.

[0068] In this embodiment, the conveying plane is limited by two limiting plates 32. The width of the conveying plane is adjusted on both sides by two adjusting components. The adjusting drive 31 drives the limiting plates 32 to slide relative to the frame 1, so that the two limiting plates 32 move closer or further apart, thereby adjusting the width of the conveying plane. This can realize the adjustment of the center distance of the conveying mechanism 2 and flexibly adapt to pallets of different sizes and specifications.

[0069] In one embodiment, the two adjusting components can simultaneously adjust the conveying width to adjust the center distance of the conveying mechanism 2 at the same time.

[0070] In this embodiment, the limiting end face and the conveying plane are arranged perpendicularly. In other embodiments, the limiting end face and the conveying plane are arranged at an angle, and the actual angle of inclination is configured according to the usage requirements.

[0071] The automated transport vehicle provided in this embodiment is referred to as... Figure 1 and Figure 2 The adjusting drive component 31 is positioned below the conveying plane, with its driving direction inclined relative to the conveying plane. This optimizes the loading space of the adjusting mechanism 3 and promotes a compact structure. The adjusting drive component 31 is configured as a telescopic structure. By adjusting the telescopic movement of the adjusting drive component 31, the relative sliding between the limiting plate 32 and the frame 1 is driven, thereby adjusting the intersection position of the limiting end face of the limiting plate 32 and the conveying plane, and thus adjusting the conveying width of the conveying plane. The telescopic structure can be configured as an electric push rod.

[0072] In this embodiment, see Figure 3 and Figure 4The adjustment mechanism 3 also includes an adapter 33, with two adjustment components disposed opposite each other on both sides of the adapter 33. The mounting end of the adjustment drive 31 is hinged to the adapter 33, and the two are configured as a ball joint structure or a shaft joint structure. The adjustment component also includes a connecting seat 34, which is fixedly connected to the limiting plate 32. The driving end of the adjustment drive 31 is hinged to the connecting seat 34.

[0073] The mounting end of the adjusting drive component 31 is hinged to the adapter 33, and the driving end of the adjusting drive component 31 is hinged to the connecting seat 34. The driving force of the adjusting drive component 31 is transmitted by the connecting seat 34. The telescopic movement of the adjusting drive component 31 drives the limiting plate 32 to change the intersection position of its limiting end face and the conveying plane. The hinged form is conducive to the smooth operation of the adjusting mechanism 3 in adjusting the conveying plane and conveying width. In this structure, the adjusting mechanism 3 can obtain the effect of different sliding speeds of the two limiting plates 32, which is more conducive to the rapid opening of the stroke area of ​​the two limiting plates 32 adjacent to the center line of the conveying mechanism 2. Specifically, when the adjusting drive component 31 has a consistent telescopic speed, the two limiting plates 32 slide faster in the stroke area adjacent to the center line of the conveying mechanism 2, and the two limiting plates 32 slide slower in the stroke area far away from the center line of the conveying mechanism 2.

[0074] In one embodiment, the mounting end of the adjusting drive member 31 and the adapter 33 are connected by a ball joint structure, and the driving end of the adjusting drive member 31 and the connecting seat 34 are also connected by a ball joint structure. The ball joint structure includes a hinged ball head and a hinged ball seat. The mounting end and the driving end of the adjusting drive member 31 can be configured as hinged ball heads, and the adapter 33 and the connecting seat 34 are configured as hinged ball seats.

[0075] In one embodiment, the mounting end of the adjusting drive 31 and the adapter 33 are connected by a shaft hinge structure. The extension and retraction direction of the adjusting drive 31 is parallel to the projection of the conveying plane onto the width direction of the conveying plane. The shaft hinge structure includes a hinge joint, a hinge shaft, and a hinge seat. The hinge shaft is fixedly or rotatably mounted on the hinge seat. The hinge joint and the hinge shaft are rotatably connected. The hinge seat limits the rotation range of the hinge joint. The extension direction of the hinge shaft is parallel to the length direction of the conveying plane. The mounting end and the driving end of the adjusting drive 31 can be configured as a hinge joint. The adapter 33 and the connecting seat 34 are configured as a common structure formed by the hinge shaft and the hinge seat.

[0076] The mounting side of the entire adjustment mechanism 3 is located at the lower end of the conveying plane. Specifically, the mounting end and driving end of the adjustment drive 31 are located at the bottom of the conveying plane.

[0077] In one implementation, see Figure 5The limiting plate 32 is provided with a connecting part 321, which is installed below the conveying plane. The connecting seat 34 is fixed on the side of the connecting part 321 facing the conveying plane. The connecting part 321 is a plate body, and it is provided with multiple connecting holes for mounting the connecting seat 34.

[0078] In this embodiment, the automated transport vehicle also includes a skidding assembly, see [link to documentation]. Figure 3 The sliding assembly includes a sliding plate 35 and a guide rail 36 that are slidably configured. The guide rail 36 is parallel to the width direction of the conveying plane. The sliding plate 35 and the limiting plate 32 are fixedly connected. The guide rail 36 is mounted on the end face of the frame 1 facing the limiting plate 32. The guide rail 36 is fixed to the frame 1, and the limiting plate 32 is fixed to the sliding plate 35. When the adjusting drive 31 drives the limiting plate 32 to slide, the sliding assembly supports and guides the sliding of the limiting plate 32 through the sliding cooperation between the guide rail 36 and the sliding plate 35. This allows for flexible adjustment of the intersection position between the limiting end face of the limiting plate 32 and the conveying plane, thereby achieving the purpose of adjusting the conveying width of the conveying plane.

[0079] See Figure 2 There are four sliding components. Two sliding components are installed on the left side, with the two spaced apart, to jointly support and guide the left limiting plate 32; the other two sliding components are installed on the right side, with the two spaced apart, to jointly support and guide the right limiting plate 32.

[0080] In this embodiment, see Figures 4 to 6 The sliding plate 35 is provided with a positioning part 351, which abuts against the back side of the limiting plate 32 away from its limiting end face. The limiting plate 32 is provided with a fixing part 325, which extends along the length direction of the limiting plate 32 and abuts against the positioning part 351. Specifically, the positioning part 351 is a plate body, which abuts against and supports the sliding movement of the limiting plate 32 away from the center line of the conveying plane. The fixing part 325 is a long strip structure, which strengthens the structural strength of the limiting plate 32 itself and helps to avoid adverse deformation due to pallet contact. The positioning part 351 and the fixing part 325 abut against each other to form a connection support between the sliding plate 35 and the limiting plate 32. The fixing part 325 abuts against the upper part of the positioning part 351 on the sliding plate 35, and the limiting plate 32 abuts against the side of the positioning part 351 on the sliding plate 35. The positioning part 351 acts as a reinforcing rib for the limiting plate 32, which helps to enhance the stability of the synchronous movement of the sliding plate 35 and the limiting plate 32.

[0081] See Figures 4 to 6The sliding plate 35 is provided with a connecting part 322, which is fixedly disposed correspondingly to the sliding plate 35. The connecting part 322 has a notch structure, and the sliding plate 35 has a protrusion structure. The notch structure and the protrusion structure are conformally connected. The connection between the notch structure and the protrusion structure increases the contact area between the sliding plate 35 and the limiting plate 32, thereby improving the movement stability of the limiting plate 32 during sliding. The height of the protrusion structure is lower than the height of the conveying plane.

[0082] See Figure 7 and Figure 8 The automated guided vehicle (AGV) also includes a locking mechanism 7, which is fixed to the frame 1. The locking mechanism 7 has a connection state where the frame 1 and the limiting plate 32 are relatively locked, and an unlocked state where the relative locking between the frame 1 and the limiting plate 32 is released. In this embodiment, the locking mechanism 7 locks the frame 1 and the limiting plate 32 relative to each other, so that the limiting plate 32 is relatively locked to the frame 1, allowing the AAV using the limiting plate 32 to have a defined width for transporting workpieces. When it is necessary to adjust the width of the AAV, the locking mechanism 7 releases the lock between the frame 1 and the limiting plate 32, allowing the limiting plate 32 to slide and flexibly adjust the transport width of the AAV.

[0083] Specifically, the limiting plate 32 has one or more docking portions 326, which are correspondingly arranged with the locking pin mechanism 7. The locking pin mechanism 7 includes a connecting frame 71, an electric telescopic pin 72, and a locking spring 73. The electric telescopic pin 72 is configured to slide on the connecting frame 71, and the locking spring 73 is installed between the electric telescopic pin 72 and the connecting frame 71. The docking portion 326 is provided with a docking hole for docking the electric telescopic pin 72, and the axis of the docking hole is arranged along the height direction. When it is necessary to lock the frame 1 and the limiting plate 32 relative to each other, the telescopic end of the electric telescopic pin 72 extends into the docking hole, which can lock the horizontal movement of the limiting plate 32, thereby achieving the purpose of locking the frame 1 and the limiting plate 32 relative to each other. In one specific embodiment, the conveying width of the automated transport vehicle depends on the actual width of the workpiece. For example, if the workpiece being conveyed has two width types, the docking part 326 is provided with two docking holes based on these two width types. The two docking holes are spaced apart along the width direction. The sliding of the limiting plate 32 can be switched by adjusting the driving component 31 in the adjusting mechanism 3, so that the two docking holes are aligned with the electric telescopic pin 72 respectively. Then, by actuating the electric telescopic pin 72 into the docking hole, the frame 1 and the limiting plate 32 are locked relative to each other, ensuring the reliable conveying capacity of the automated transport vehicle.

[0084] See Figure 13The automated guided vehicle (AGV) also includes a control system, which comprises a PLC control module 51, a navigation module 52, an obstacle avoidance module 53, a charging module 54, and an alarm module 55, all fixedly mounted on the frame 1. The PLC control module 51 controls the AAV's movement, conveying operations, and adjustment of the conveying width. The navigation module 52 and obstacle avoidance module 53 are used for route planning during AAV movement. The charging module 54 connects to a charging station to provide power to the AAV. The alarm module 55 issues an alarm when the AAV malfunctions or malfunctions, alerting the operator. The alarm module 55 may consist of an alarm light and a speaker, providing both audible and visual alarms.

[0085] See Figure 2 The conveying mechanism 2 includes a conveying drive (not shown in the figure), a transmission assembly, and multiple support cylinders 21. The conveying drive is mounted on the frame 1, and the transmission assembly is disposed between the conveying drive and the multiple support cylinders 21 to drive the multiple support cylinders 21 to move synchronously under the driving action of the conveying drive. Each support cylinder 21 is rotatably mounted on the frame 1, and the multiple support cylinders 21 are arranged parallel to each other and spaced apart along the conveying direction of the conveying mechanism 2. The multiple support cylinders 21 are arranged at the same height to jointly form a conveying plane, and the limiting plate 32 is arranged to avoid contact with the support cylinders 21. During its rotation, the support cylinder 21 drives the pallet into the conveying plane through friction.

[0086] See Figure 2 The transmission assembly includes a transmission chain (not shown in the figure) and several transmission sprockets 22; one of the transmission sprockets 22 is sleeved and mounted on the conveying drive component, and the other transmission sprockets 22 are sleeved and mounted on the conveying drive component, and the transmission chain and all the transmission sprockets 22 are meshed and connected for transmission.

[0087] See Figure 2 The conveying mechanism 2 also includes bearing components 23, which are mounted on the frame 1. The end of the support cylinder 21 is rotatably disposed within the bearing component 23, and the bearing component 23 is configured as a floating bearing. The bearing components 23 are located at both ends of the support cylinder 21. By absorbing the force exerted by the automated guided vehicle when traveling on uneven surfaces, the floating bearing helps to enhance the stability of the conveying mechanism 2 in conveying the pallet and the workpieces on the pallet.

[0088] In one implementation, see Figure 3 and Figure 5 The limiting plate 32 is provided with a plurality of clearance portions 324, which are used to avoid the support cylinder 21; the clearance portions 324 are configured as grooves constructed on the limiting plate 32.

[0089] In one implementation, see Figure 2 and Figure 5The limiting plate 32 is provided with a guide portion 323 at its end along its length direction. The guide portion 323 and the limiting end face of the limiting plate 32 are inclined to facilitate the pallet to enter the conveying plane from the inlet / outlet side of the conveying mechanism 2.

[0090] In another embodiment, the adjustment mechanism 3 is equipped with a limiting plate 32, which, together with the frame 1, limits the conveying plane. The adjustment mechanism 3 adjusts the limiting plate 32 on one side to change the intersection position between the limiting end face of the limiting plate 32 and the conveying plane, thereby adjusting the conveying width of the conveying plane.

[0091] See Figure 1 , Figure 9 and Figure 10 The automated transport vehicle also includes a blocking mechanism 4, which is located on the entry / exit side of the conveying mechanism 2. The blocking mechanism 4 includes a mounting base 43 and a blocking drive component 44, a blocking rod 42, and a return spring 47 connected to the mounting base 43. The mounting base 43 is fixedly connected to the frame 1. The return spring 47 is sleeved on the blocking rod 42. The blocking drive component 44 and the return spring 47 are used to drive the blocking rod 42 to move up and down, so that the blocking rod 42 approaches or moves away from the conveying plane. The blocking drive component 44 can be configured as a drive motor.

[0092] The blocking mechanism 4 blocks the pallet on the conveying mechanism 2. The blocking mechanism 4 includes a blocking drive 44, a blocking rod 42, and a return spring 47. The blocking drive 44 and the return spring 47 are used to drive the blocking rod 42 to move up and down, so that the blocking rod 42 moves closer to or away from the conveying plane, thereby forming a limit stop for the pallet on the conveying plane when the automated transport vehicle is working, preventing the pallet from leaving the conveying plane when the automated transport vehicle moves forward, backward, or turns, and enhancing the stable transport capability of the automated transport vehicle.

[0093] In this embodiment, see Figure 9 and Figure 10The blocking mechanism 4 also includes a rotating block 45 and a lifting plate 46. The rotating block 45 is installed on the driving end of the blocking drive member 44, and the lifting plate 46 is slidably installed in the mounting base 43. The blocking rod 42 and the lifting plate 46 are fixedly connected. The blocking drive member 44 drives the rotating block 45 to rotate, so as to abut against the lifting plate 46 and the blocking rod 42 and descend synchronously. During the descending stroke of the blocking rod 42, the return spring 47 has a biasing force that causes the lifting plate 46 to rise. The blocking rod 42 is installed through the mounting base 43. Specifically, the rotating block 45 is provided with a roller 451, which abuts against the lifting plate 46. The roller 451 abuts against the lifting plate 46 and the blocking rod 42 as the rotating block 45 rotates, and its descending stroke causes the return spring 47 to accumulate elastic potential energy. When the rotating block 45 drives the roller 451 to rotate upward, the return spring 47 gradually releases the elastic potential energy, so as to cause the lifting plate 46 and the blocking rod 42 to rise, thereby realizing the adjustment of the blocking end of the blocking rod 42.

[0094] In one implementation, see Figure 1 and Figure 9 The blocking mechanism 4 includes a mounting cover 41, which is fixedly connected to a mounting base 43. The mounting cover 41 is fixedly connected to the frame 1. The mounting base 43 and the blocking drive component 44 are covered by the mounting cover 41.

[0095] See Figure 10 One end of the lifting plate 46 is provided with a trigger element 461. The mounting base 43 is provided with a first detection element 48 and a second detection element 49 spaced apart. Either detection element is adapted to sense the trigger element 461. The first detection element 48 and the second detection element 49 are used to detect the lifting stroke of the lifting plate 46 and the blocking rod 42. The detection signals from the first detection element 48 and the second detection element 49 are received by the PLC control module 51. When either the first detection element 48 or the second detection element 49 triggers the trigger element 461, the PLC control module 51 can control the stopping of the blocking drive element 44. The limit strokes of the lifting plate 46 and the blocking rod 42 can be configured according to design requirements.

[0096] In one implementation, see Figure 9 The mounting base 43 is provided with a guide groove 431, and the guide groove 431 and the lifting plate 46 are slidably abutted together.

[0097] See Figure 2The frame 1 has a first fixed plate 11 and a second fixed plate 12 spaced apart on its upper end. The adjustment mechanism 3 has two adjustment components, which are respectively installed on the first fixed plate 11 and the second fixed plate 12. The frame 1 has a connecting member 13, which is located away from the feeding side of the conveying mechanism 2. One end of the connecting member 13 is fixed to the first fixed plate 11, and the other end of the connecting member 13 is fixed to the second fixed plate 12. Several buffer members 15 are arranged on the connecting member 13 in the direction facing the inlet / outlet side of the conveying mechanism 2. The buffer members 15 can be configured as cushioning pads. The automatic transport vehicle provided in this embodiment has a four-sided limiting structure formed by the two limiting plates 32, the connecting member 13, and the blocking structure to limit the transport of the pallet.

[0098] In one implementation, see Figure 13 The outer edge of the frame 1 is provided with a guard edge 14, which extends horizontally along its outer edge. The guard edge 14 is made of flexible material and surrounds the frame 1, which helps to improve the safety of the automated transport vehicle.

[0099] See Figures 11 to 13 The automated transport vehicle also includes a drive mechanism 6, which comprises an assembly plate 61, an assembly base 62, a first drive assembly, and a second drive assembly. The assembly plate 61 is fixedly connected to the frame 1, and the assembly base 62 is rotatably connected to the assembly plate 61. The first drive assembly and the second drive assembly are connected to the assembly base 62. During operation, the drive mechanism 6, through the cooperation of the first drive assembly and the second drive assembly, enables the automated transport vehicle to move forward, backward, and turn, resulting in rapid operation.

[0100] See Figure 11 and Figure 12 The first drive assembly includes a first drive member 63, a sprocket structure 64, a connecting chain 65, and a traveling wheel 66. The first drive member 63 is fixed on the mounting base 62, the sprocket structure 64 is rotatably mounted on the mounting base 62, and the traveling wheel 66 is rotatably mounted on one side of the mounting base 62. The connecting chain 65 and the sprocket structure 64 are meshed and driven. The first drive assembly and the second drive assembly are configured with the same structure.

[0101] For the forward and backward movements of the automated transport vehicle, the first drive assembly and the second drive assembly are activated simultaneously. In the first drive assembly, the first drive member 63 drives the traveling wheel 66 through the connecting chain 65 and the sprocket structure 64. Similarly, the second drive member drives its traveling wheel 66 to make the vehicle body move forward or backward in a straight direction.

[0102] For the steering action of the automated guided vehicle (AGV), by activating the first drive assembly and deactivating the second drive assembly, the first drive assembly drives its travel wheel to rotate around the travel wheel 66 of the second drive assembly, causing the AAV to turn to one side. Alternatively, the first drive assembly can be deactivated and the second drive assembly activated, causing the AAV to turn to the other side. In other embodiments, the PLC control module 51 can be configured to give the travel wheels 66 of the first drive assembly and the travel wheels 66 of the second drive assembly different rotational speeds, allowing the AAV to turn towards the side with the faster rotational speed.

[0103] Further, see Figure 11 and Figure 12 The drive mechanism 6 also includes a steering detection assembly, which includes a steering gear 67, a connecting gear 68, and an encoder 69. The steering gear 67 is fixedly connected to the mounting base 62, and the steering gear 67 and the mounting plate 61 are spaced apart. The connecting gear 68 is rotatably mounted on the mounting base 62. The encoder 69 is used to record and identify the rotation angle of the connecting gear 68. The encoder 69 records and feeds back the rotation angle data of the connecting gear 68 to the PLC control module 51. The PLC control module 51 obtains the rotation angle data of the steering gear 67 based on the meshing transmission relationship between the steering gear 67 and the connecting gear 68, so as to determine the steering angle of the automated transport vehicle.

[0104] In one embodiment, the first drive assembly and the second drive assembly are arranged in a centrally symmetrical manner around the rotation axis of the steering gear 67.

[0105] The automated transport vehicle provided in this embodiment, taking the adjusting mechanism 3 as having two adjusting components as an example, operates as follows:

[0106] When conveying pallets and workpieces, the adjusting mechanism 3 drives the limiting plates 32 on both sides to move laterally, changing the intersection position of the limiting end face of the limiting plate 32 and the conveying plane to adapt to the size and specifications of the pallet to be conveyed and the workpiece on it; the locking pin mechanism 7 locks the frame 1 and the limiting plate 32 relative to each other; then, the pallet and the workpiece on it are transferred to the inlet and outlet side of the conveying mechanism 2, and the conveying mechanism 2 drives multiple support cylinders 21 to rotate, so as to guide the pallet and the workpiece on it through the limiting plate 32 to the conveying plane; the blocking mechanism 4 drives the blocking rod 42 to pass through the conveying plane to limit the pallet and the workpiece on it at the conveying plane; the driving mechanism 6 drives the automatic transport vehicle to move.

[0107] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. An automated transport vehicle, characterized in that, include: Frame (1); A conveying mechanism (2) is installed on the frame (1), and a conveying plane is arranged on the conveying mechanism (2). The conveying mechanism (2) includes a conveying drive, a transmission assembly, and multiple support cylinders (21). The conveying drive is installed on the frame (1), and the transmission assembly is arranged between the conveying drive and the multiple support cylinders (21) to drive the multiple support cylinders (21) to move synchronously under the driving action of the conveying drive. Each support cylinder (21) is rotatably installed on the frame (1), and the multiple support cylinders (21) are arranged parallel to each other along the conveying direction of the conveying mechanism (2). The multiple support cylinders (21) are arranged at the same height to jointly form the conveying plane. The limiting plate (32) and the support cylinders (21) are arranged to avoid each other. The adjustment mechanism (3) is arranged to avoid the conveying mechanism (2). The adjustment mechanism (3) includes an adjustment drive (31) and a limiting plate (32). The mounting end of the adjustment drive (31) is fixed on the frame (1). The limiting plate (32) is connected to the driving end of the adjustment drive (31). The limiting end face of the limiting plate (32) intersects with the conveying plane. The limiting plate (32) extends along the length direction of the conveying plane. The adjustment mechanism (3) is equipped with two adjustment components that are spaced apart. Each adjustment component includes the adjustment drive (31) and the limiting plate (32). The two limiting plates (32) are respectively located on both sides of the center line of the conveying plane. Under the driving action of the adjusting drive (31), the limiting plate (32) slides relative to the frame (1), so that the two limiting plates (32) move closer or further apart, thereby adjusting the conveying width of the conveying plane; The automated transport vehicle also includes a locking mechanism (7), which is fixed on the frame (1). The locking mechanism (7) has a connection state that locks the frame (1) and the limiting plate (32) relative to each other, and an unlocking state that releases the relative lock between the frame (1) and the limiting plate (32).

2. The automated transport vehicle according to claim 1, characterized in that, The adjustment drive (31) is disposed below the conveying plane, the driving direction of the adjustment drive (31) is inclined to the conveying plane, and the adjustment drive (31) is configured as a telescopic structure.

3. The automated transport vehicle according to claim 2, characterized in that, The adjustment mechanism (3) also includes a transition seat (33), with two adjustment components arranged opposite to each other on both sides of the transition seat (33). The mounting end of the adjustment drive (31) is hinged to the transition seat (33), and the two are configured as a ball joint structure or a shaft joint structure. The adjustment component also includes a connecting seat (34), which is fixedly connected to the limiting plate (32), and the driving end of the adjustment drive (31) is hinged to the connecting seat (34).

4. The automated transport vehicle according to claim 1, characterized in that, The automated transport vehicle further includes at least one sliding assembly, which includes a sliding plate (35) and a guide rail (36) that are slidably configured. The guide rail (36) is arranged parallel to the width direction of the conveying plane. The sliding plate (35) and the limiting plate (32) are fixedly connected. The guide rail (36) is mounted on the end face of the frame (1) facing the limiting plate (32).

5. The automated transport vehicle according to claim 4, characterized in that, The sliding plate (35) is provided with a connecting part (322), the connecting part (322) and the sliding plate (35) are fixedly disposed correspondingly, the connecting part (322) has a notch structure, the sliding plate (35) is constructed with a protrusion structure, the notch structure and the protrusion structure are conformally connected, and the height of the protrusion structure is lower than the height of the conveying plane; and / or The sliding plate (35) is provided with a positioning part (351), which abuts against the back side of the limiting plate (32) away from its limiting end face; the limiting plate (32) is provided with a fixing part (325), which extends along the length direction of the limiting plate (32) and abuts against the positioning part (351) above.

6. The automated transport vehicle according to claim 3, characterized in that, The limiting plate (32) is provided with a connecting part (321), the connecting part (321) is installed below the conveying plane, and the connecting seat (34) is fixed on the side of the connecting part (321) facing the conveying plane; and / or The limiting plate (32) has a guide portion (323) at its end along its length direction, and the guide portion (323) and the limiting end face of the limiting plate (32) are inclined to each other.

7. The automated transport vehicle according to claim 1, characterized in that, The limiting plate (32) is provided with a plurality of clearance portions (324), which are used to avoid the support cylinder (21); and / or The conveying mechanism (2) further includes a bearing component (23), which is mounted on the frame (1). The end of the support cylinder (21) is rotatably disposed within the bearing component (23), and the bearing component (23) is configured as a floating bearing; and / or The frame (1) is provided with a first fixing plate (11) and a second fixing plate (12) spaced apart from each other. The adjustment mechanism (3) is provided with two adjustment components, which are respectively installed on the first fixing plate (11) and the second fixing plate (12). The frame (1) is provided with a connecting member (13), which is located away from the feeding side of the conveying mechanism (2). One end of the connecting member (13) is fixed to the first fixing plate (11), and the other end of the connecting member (13) is fixed to the second fixing plate (12). The connecting member (13) is provided with several buffer members (15) in the direction of the conveying mechanism (2) in the direction of its entry and exit.

8. The automated transport vehicle according to any one of claims 1-5, characterized in that, The automated transport vehicle also includes a blocking mechanism (4), which is located on the entry / exit side of the conveying mechanism (2). The blocking mechanism (4) includes a mounting base (43) and a blocking drive (44), a blocking rod (42), and a return spring (47) connected to the mounting base (43). The mounting base (43) is fixedly connected to the frame (1). The return spring (47) is sleeved on the blocking rod (42). The blocking drive (44) and the return spring (47) are used to drive the blocking rod (42) to move up and down, so that the blocking rod (42) moves closer to or away from the conveying plane.

9. The automated transport vehicle according to claim 8, characterized in that, The blocking mechanism (4) further includes a rotating block (45) and a lifting plate (46). The rotating block (45) is installed at the driving end of the blocking drive (44). The lifting plate (46) is slidably installed in the mounting base (43). The blocking rod (42) and the lifting plate (46) are fixedly connected. The blocking drive (44) drives the rotating block (45) to rotate so as to abut against the lifting plate (46) and the blocking rod (42) and descend synchronously. During the descending stroke of the blocking rod (42), the return spring (47) has a biasing force that causes the lifting plate (46) to rise. The blocking rod (42) passes through the mounting base (43).

10. The automated transport vehicle according to claim 9, characterized in that, The rotating block (45) is provided with rollers, and the rollers are abutted against the lifting plate (46); and / or One end of the lifting plate (46) is provided with a trigger (461), and the mounting base (43) is provided with a first detection element (48) and a second detection element (49) arranged at intervals. Either detection element is adapted to sense the trigger (461). The first detection element (48) and the second detection element (49) are used to detect the lifting stroke of the lifting plate (46) and the blocking rod (42); and / or The mounting base (43) is provided with a guide groove (431), and the guide groove (431) and the lifting plate (46) are slidably abutted against each other.

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