An automatic loading and unloading device based on a dual-steering wheel AGV trolley

Abstract

This invention discloses an automatic loading and unloading device based on a dual-steering-wheel AGV (Automated Guided Vehicle) trolley, relating to the field of warehousing and logistics technology. It includes an AGV trolley, an automatic loading and unloading mechanism, and a rack. Both the automatic loading and unloading mechanism and the rack are located on the upper part of the AGV trolley. The automatic loading and unloading mechanism is located on one side of the rack. The automatic loading and unloading mechanism includes a lateral movement mechanism, a lifting conveyor belt mechanism, and a pallet conveying mechanism. The lateral movement mechanism is located on the upper surface of the AGV trolley, the lifting conveyor belt mechanism is mounted on the lateral movement mechanism, and the pallet conveying mechanism is mounted on the lifting conveyor belt mechanism. This invention enables automatic loading and unloading in workshops and warehouses, resulting in high-volume material feeding, high transportation efficiency, and convenient transfer of material boxes.

Description

Technical Field

[0001] This invention belongs to the field of warehousing and logistics technology, specifically relating to an automatic loading and unloading device based on a dual-steering wheel AGV trolley. Background Technology

[0002] The application of AGVs (Automated Guided Vehicles) in warehousing, logistics, and manufacturing is continuously expanding, leading to increased industrial capital investment, the introduction of various industry policies, and a growing number of AGV models. Currently, supported by big data, 5G, and artificial intelligence technologies, the AGV industry is thriving and has excellent development prospects.

[0003] AGVs (Automated Guided Vehicles) are advanced equipment in the manufacturing industry. Their advanced technology, reliability, flexibility, compatibility, and safety have made them a shining example in the warehousing field. AGVs can flexibly create autonomous systems and complete the task of transporting materials. With the increasing application of AGVs in warehousing and logistics, more intelligent, autonomous, and automated new energy workshop loading and unloading devices are clearly in line with current trends. Existing AGVs have limitations in material transportation, including the limited capacity they can carry and the need for manual operation of lifting devices to move materials from the AGV to the warehouse conveyor belt. Chinese patent CN 210364138U discloses an AGV with a lifting and feeding mechanism that can lift materials via a lifting platform. However, due to the limitations of its lifting platform structure, it still suffers from the problem of limited material capacity and low transportation efficiency.

[0004] Therefore, proposing a high-efficiency, high-precision automatic loading and unloading device based on a dual-steering wheel AGV has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides an automatic loading and unloading device based on a dual-steering wheel AGV trolley to solve the problems of low material handling efficiency and difficulty in unifying the control of the material box transfer and conveying system in the material box transfer AGV trolley in the new energy workshop.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] An automatic loading and unloading device based on a dual-steering wheel AGV trolley includes: an AGV trolley, an automatic loading and unloading mechanism, and a shelf. The automatic loading and unloading mechanism and the shelf are both located on the upper part of the AGV trolley. The automatic loading and unloading mechanism is located on one side of the shelf. The automatic loading and unloading mechanism includes a lateral movement mechanism, a lifting conveyor belt mechanism, and a pallet conveying mechanism. The lateral movement mechanism is located on the upper surface of the AGV trolley. The lifting conveyor belt mechanism is located on the lateral movement mechanism. The pallet conveying mechanism is located on the lifting conveyor belt mechanism.

[0008] Furthermore, the lateral movement mechanism includes a first horizontal slide rail, a second horizontal slide rail, a flange-type slider, a first drive motor, a guide screw, a screw support, a screw nut, and a fixed base plate. The screw support and the first drive motor are disposed on the upper surface of the AGV trolley. The guide screw is rotatably disposed in the screw support and is fixedly connected to the output end of the first drive motor. The screw nut is threaded into the guide screw and is fixedly connected to the fixed base plate. The first and second horizontal slide rails are symmetrically disposed on both sides of the guide screw. The flange-type slider is slidably disposed in the first and second horizontal slide rails, and the upper surface of the flange-type slider is disposed at the four corners of the fixed base plate.

[0009] Furthermore, the lifting conveyor belt mechanism includes a slide rod fixing seat, a linear slide rod, a linear slider, a top cover, lifting side plates, a lifting base plate, a lifting mechanism, and a driving mechanism. The linear slide rod is mounted on the fixed base plate via the slide rod fixing seat. The top cover is mounted on the top of the linear slide rod. The linear slider is slidably mounted in the linear slide rod. The lifting side plates are fixed to the inner side of the linear slider. The lifting base plate is mounted on the bottom of the two lifting side plates. The lifting mechanism is mounted on both sides of the lifting side plates and is fixedly connected to the lifting side plates. The driving mechanism is mounted on the fixed base plate and is drivenly connected to the lifting mechanism.

[0010] Furthermore, the lifting mechanism includes a lifting belt, a lifting belt fixing plate, and a lifting belt fixing frame. The lifting belt fixing frame is correspondingly installed on the fixed base plate and the upper cover. The lifting belt is rotatably installed in the lifting belt fixing frame. The lifting belt fixing plate is installed on the lifting belt and is fixedly connected to the lifting side plate.

[0011] Furthermore, the drive mechanism includes a stepper motor, a stepper reducer, a synchronous belt, a synchronous shaft, a drive pulley, and a driven pulley. The stepper motor and the stepper reducer are both fixed on the lifting base plate. The drive pulley is driven and connected to the stepper motor through the stepper reducer. The synchronous shaft is arranged between the lifting belt fixing frames on the fixed base plate. The driven pulley is arranged on the synchronous shaft. The drive pulley and the driven pulley are driven and connected through the synchronous belt.

[0012] Furthermore, the pallet conveying mechanism includes a second drive motor, a drive conveyor belt, a transmission plate, and a feeding mechanism. The second drive motor and the drive conveyor belt are mounted on the lifting base plate. The drive shaft of the drive conveyor belt is fixedly connected to the second drive motor. The transmission plate is U-shaped and is longitudinally mounted on the drive conveyor belt. The feeding mechanism is mounted on the lifting side plate and is driven by the transmission plate.

[0013] Furthermore, three feeding mechanisms are provided, which are longitudinally arranged above the drive conveyor belt. The feeding mechanisms are fixedly connected to each other by connecting plates. Each feeding mechanism includes a fixed base, a feeding slide bar, a feeding slider, a toggle sleeve, a feeding conveyor belt, and a transverse straight rod. The fixed base is located at the front and rear ends of the inner side of the lifting side plate. The feeding slide bar is located between the fixed bases. The feeding slider is slidably arranged in the feeding slide bar. The outer sides of the upper and lower feeding sliders are fixedly connected by connecting plates. A toggle sleeve is provided on the feeding slider. Feeding conveyor belts are symmetrically arranged between the toggle sleeves. The feeding conveyor belts are connected to each other by transverse straight rods.

[0014] Furthermore, the AGV includes a frame, dual steering wheels, omnidirectional wheels, a battery compartment, a safety edge, an obstacle avoidance mechanism, and a control system. The dual steering wheels are diagonally positioned at the bottom of the frame, and the omnidirectional wheels are diagonally positioned on the other side of the bottom of the frame. The battery compartment is located in the frame, and the safety edge is horizontally positioned on the side plate of the frame. The obstacle avoidance mechanism and the control system are both mounted on the frame. The first drive motor, the stepper motor, the second drive motor, the dual steering wheels, the battery compartment, and the obstacle avoidance mechanism are all electrically connected to the control system.

[0015] Furthermore, the obstacle avoidance mechanism includes an obstacle avoidance radar and a QR code camera. The obstacle avoidance radar is installed in the middle of the side panels at the front and rear of the vehicle frame. The obstacle avoidance radar is installed at a height of 220mm above the ground and is tilted upwards at a 5-degree angle. It is used for detecting, avoiding, and measuring highly reflective objects. The QR code camera is installed on both sides of the vehicle frame, facing the ground.

[0016] Furthermore, the shelf includes an aluminum profile frame and a material tray; the aluminum profile frame is assembled from aluminum profiles into 3×6 rectangular storage compartments, and a material tray is placed at the vertices of each rectangular storage compartment.

[0017] The beneficial effects of the present invention are:

[0018] This invention is a high-efficiency, high-precision, convenient, and fast material box transfer device for new energy workshops. By setting up shelves and an automatic loading and unloading mechanism, it can simultaneously load and unload three material boxes at a time via a three-in-one pallet conveyor. With a 3×6 entrance / exit design featuring a self-contained warehouse, the trolley can transfer 18 material boxes in a single round trip. The feeding conveyor belt enables automatic loading and unloading of materials, resulting in high material handling efficiency. Furthermore, the feeding conveyor belt can extend freely, facilitating material docking with the warehouse conveyor belt. This invention is an intelligent transfer device based on a dual-steering wheel AGV trolley's two-dimensional planar autonomous tracking and intelligent obstacle avoidance. Its transfer system has three degrees of freedom, enabling arbitrary movement along the X, Y, and Z axes in space. The loading and unloading of material boxes in the new energy workshop is achieved through algorithmic control of the coordinated operation of each conveyor belt. Attached Figure Description

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the AGV chassis structure of the present invention;

[0021] Figure 3 This is a schematic diagram of the lateral movement mechanism of the present invention;

[0022] Figure 4 This is a schematic diagram of the lifting mechanism and drive mechanism of the present invention;

[0023] Figure 5 This is a schematic diagram showing the installation position of the feeding mechanism of the present invention;

[0024] Figure 6 This is a schematic diagram of the feeding mechanism of the present invention;

[0025] Figure 7 This is a schematic diagram of the shelf structure of the present invention.

[0026] In the diagram: 1. First steering wheel; 2. Second steering wheel; 3. First omnidirectional wheel; 4. Second omnidirectional wheel; 5. Frame; 6. Battery compartment; 7. Obstacle avoidance radar; 8. First horizontal slide rail; 9. Second horizontal slide rail; 10. Flange-type slider; 11. Guide screw; 12. Screw support; 13. Screw nut; 14. Fixed base plate; 15. Slide rod fixing seat; 16. Linear slide rod; 17. Linear slider; 18. Top cover; 19. Lifting side plate; 20. Lifting base plate; 2 1. Lifting belt; 22. Lifting belt fixing plate; 23. Lifting belt fixing frame; 24. Stepper motor; 25. Stepper reducer; 26. Synchronous belt; 27. Synchronous shaft; 28. Driving pulley; 29. ​​Driven pulley; 30. Drive conveyor belt; 31. Transmission plate; 32. Connecting plate; 33. Fixing seat; 34. Feeding slide bar; 35. Feeding slider; 36. Actuating sleeve; 37. Feeding conveyor belt; 38. Transverse straight bar; 39. Aluminum profile frame; 40. Material pallet. Detailed Implementation

[0027] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0028] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "horizontal," "inner," "outer," and "one side," 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. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" 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.

[0029] Example 1

[0030] like Figure 1-7 As shown, this embodiment discloses an automatic loading and unloading device based on a dual-steering wheel AGV trolley, including: an AGV trolley, an automatic loading and unloading mechanism, and a shelf. The AGV trolley can start, stop, move forward, move backward, turn in place, and move laterally through the dual steering wheels, and has the function of moving in any direction in a two-dimensional plane. The automatic loading and unloading mechanism and the shelf are both set on the upper end of the AGV trolley. The automatic loading and unloading mechanism is set on one side of the shelf. The automatic loading and unloading mechanism realizes the vertical, horizontal, and longitudinal displacement of the pallet conveyor belt.

[0031] The AGV includes a frame 5, a first steering wheel 1, a second steering wheel 2, a first omnidirectional wheel 3, a second omnidirectional wheel 4, a battery compartment 6, a safety edge, an obstacle avoidance mechanism, and a control system. The first steering wheel 1 and the second steering wheel 2 are diagonally located at the bottom of the frame 5, and the first omnidirectional wheel 3 and the second omnidirectional wheel 4 are diagonally located on the other side of the bottom of the frame 5. The battery compartment 6 is located in the frame 5, and the safety edge is horizontally located on the side plate of the frame 5. The obstacle avoidance mechanism and the control system are both located on the frame 5. The first drive motor, the stepper motor 24, the second drive motor, the first steering wheel 1, the second steering wheel 2, the battery compartment 6, and the obstacle avoidance mechanism are all electrically connected to the control system.

[0032] In a preferred embodiment of the present invention, the obstacle avoidance mechanism includes two obstacle avoidance radars 7 and two QR code cameras. The two obstacle avoidance radars 7 are disposed in the middle of the side panels at the front and rear of the vehicle frame 5. The obstacle avoidance radars 7 are installed at a ground height of 220mm and are horizontally tilted upwards at a 5-degree angle for detecting, avoiding, and measuring highly reflective objects. The two QR code cameras are disposed on the two side edges of the vehicle frame, facing the ground. The front and rear radars provide front radar data and rear radar data, and fuse the data to provide point cloud data. The left and right QR code cameras provide left encoder data and right encoder data by recognizing QR code images on the ground. The left encoder data and right encoder data are fused to construct a motion model and provide odometer data. The point cloud data is fused with the odometer data to perform point cloud matching, thereby outputting relative pose data and sub-map data. The relative pose data and the sub-map data are subjected to a loop closure detection procedure to output map data. The odometer data, positioning data, and front and rear radar data form a positioning fusion module; the positioning fusion module detects the current vehicle pose and adds it to the global planning along with the path data; the front radar data and the aforementioned rear radar data form an obstacle avoidance module, which performs local planning by combining the path data and speed information, and the local planning composed of the current vehicle pose, path data, and speed information is added to the global planning.

[0033] In a preferred embodiment of the present invention, the AGV control system is implemented using the CANopen high-level motor control protocol, the openPLC industrial computer, EtherCAT real-time Ethernet technology, the openTCS traffic control system, and the ROS industrial computer. The high-level motor control protocol is used to control the movement and steering of the dual steering wheels; the openPLC industrial computer is the on-board controller of the AGV, playing a core control role; the EtherCAT real-time Ethernet technology is used for the motion control of the AGV, including movement on the X and Y axes and coordination between movements, achieving precise position, speed, and acceleration control; the openTCS traffic control system is used to coordinate multiple AGVs to perform operational tasks in scenarios such as factories and warehouses, and to facilitate warehouse operators in understanding the robot's operating status, issuing operating commands, and monitoring information such as the robot's battery level and speed; the ROS industrial computer is the AGV control middleware provided by ROS for developers, including controller interfaces, transmission device interfaces, and hardware interfaces.

[0034] The automatic loading and unloading mechanism includes a lateral moving mechanism, a lifting conveyor belt mechanism, and a pallet conveying mechanism. The lateral moving mechanism is located on the upper surface of the frame 5, the lifting conveyor belt mechanism is located on the lateral moving mechanism, and the pallet conveying mechanism is located on the lifting conveyor belt mechanism.

[0035] The lateral movement mechanism includes a first horizontal slide rail 8, a second horizontal slide rail 9, a flange-type slider 10, a first drive motor, a guide screw 11, a screw support 12, a screw nut 13, and a fixed base plate 14. The screw support 12 and the first drive motor are mounted on the upper surface of the frame 5. The guide screw 11 is rotatably mounted in the screw support 12 and is fixedly connected to the output end of the first drive motor. The screw nut 13 is threaded into the guide screw 11 and is fixedly connected to the fixed base plate 14. The first horizontal slide rail 8 and the second horizontal slide rail 9 are symmetrically mounted on both sides of the guide screw 11 by screws. The flange-type slider 10 is slidably mounted in the first horizontal slide rail 8 and the second horizontal slide rail 9, and its upper surface is located at the four corners of the fixed base plate 14. Driven by the first drive motor, the fixed base plate 14 can move laterally on the first horizontal slide rail 8 and the second horizontal slide rail 9.

[0036] The lifting conveyor belt mechanism includes a slide rod fixing seat 15, a linear slide rod 16, a linear slider 17, a top cover 18, lifting side plates 19, a lifting base plate 20, a lifting mechanism, and a driving mechanism. In this embodiment, four linear slide rods 16 are provided. The four linear slide rods 16 are mounted on the fixed base plate 14 through the slide rod fixing seat 15. The top and bottom of the linear slide rods 16 are symmetrically inserted into the slide rod fixing seat 15. The top cover 18 is located at the top of the linear slide rod 16. The linear slider 17 is slidably mounted in the linear slide rod 16. Two lifting side plates 19 are fixed to the inner side of the linear slider 17. The lifting base plate 20 is located at the bottom of the two lifting side plates 19. The lifting mechanism is located on both sides of the lifting side plates 19 and is fixedly connected to the lifting side plates 19. The driving mechanism is located on the fixed base plate 14 and is drivenly connected to the lifting mechanism.

[0037] Specifically, the lifting mechanism includes a lifting belt 21, a lifting belt fixing plate 22, and a lifting belt fixing frame 23. The lifting belt fixing frame 23 is correspondingly set on the upper surface of the fixed base plate 14 and the lower surface of the upper cover 18, located on the left and right sides of the lifting side plate 19. A rotating gear is provided in the lifting belt fixing frame 23, and the lifting belt 21 is connected between the upper and lower rotating gears. The lifting belt fixing plate 22 is set on the lifting belt 21 and is fixedly connected to the lifting side plate 19.

[0038] The drive mechanism includes a stepper motor 24, a stepper reducer 25, a synchronous belt 26, a synchronous shaft 27, a drive pulley 28, and a driven pulley 29. The stepper motor 24 and the stepper reducer 25 are both fixed on the lifting base plate 20. The drive pulley 28 is driven and connected to the stepper motor 24 through the stepper reducer 25. The synchronous shaft 27 is arranged between the lifting belt fixing brackets 23 on the fixed base plate 14. The driven pulley 29 is arranged on the synchronous shaft 27. The drive pulley 28 and the driven pulley 29 are driven and connected through the synchronous belt 26. Driven by the stepper motor 24, the synchronous belt 26 can drive the driven pulley 29 to rotate, thereby driving the lifting belt 21 to rotate, causing the lifting belt fixing plate 22 to drive the lifting side plate 19 and the lifting base plate 20 to move up and down.

[0039] The pallet conveying mechanism includes a second drive motor, a drive conveyor belt 30, a transmission plate 31, and a feeding mechanism. The second drive motor and the drive conveyor belt 30 are mounted on the lifting base plate 20. The drive shaft of the drive conveyor belt 30 is fixedly connected to the second drive motor. The transmission plate 31 is U-shaped and consists of a transmission plate side plate and a transmission plate bottom plate. The transmission plate bottom plate is mounted on the drive conveyor belt 30. The feeding mechanism is mounted on the lifting side plate 19. The transmission plate side plate is fixedly connected to the feeding mechanism.

[0040] Multiple feeding mechanisms can be provided. In this embodiment, there are three feeding mechanisms, which are longitudinally arranged above the drive conveyor belt 30. The feeding mechanisms are fixedly connected to each other by connecting plates 32. Specifically, the feeding mechanism includes a fixed base 33, a feeding slide bar 34, a feeding slider 35, a toggle sleeve 36, a feeding conveyor belt 37, and a transverse straight bar 38. The fixed base 33 is located at the front and rear ends of the inner side of the lifting side plate 19. The feeding slide bar 34 is located between the fixed bases 33. The feeding slider 35 is slidably arranged in the feeding slide bar 34, and its outer side is connected by a connecting plate. 32 is fixedly connected. A toggle sleeve 36 is fixedly sleeved on the feeding slider 35. Feeding conveyor belts 37 are symmetrically arranged between the toggle sleeves 36. The feeding conveyor belts 37 are connected to each other by a transverse straight rod 38. The inner wall of the bottom feeding conveyor belt is fixedly connected to the side plate of the transmission plate. In this way, when the driving conveyor belt 30 rotates, the driving conveyor belt 30 will drive the transmission plate 31 to move, thereby driving the three feeding conveyor belts 37 to move left and right. This allows the feeding conveyor belt of the present invention to not only transport materials, but also connect with the conveyor belts of warehouses and logistics warehouses to transport materials.

[0041] The shelving unit consists of an aluminum profile frame 39 and a material pallet 40. The aluminum profile frame 39 is assembled from aluminum profiles into 3×6 rectangular storage compartments. The corners of the aluminum profiles are secured with corner brackets. A material pallet 40 is placed at the apex of each rectangular storage compartment.

[0042] Example 2

[0043] This embodiment discloses an automatic loading and unloading method for an automatic loading and unloading device based on an AGV dual-steering wheel trolley, including the following operation steps:

[0044] S01, the AGV trolley is positioned at the logistics warehouse location that needs to be transported, and after moving to the located address, one side of the feeding conveyor belt 37 is aligned with the entrance and exit of the logistics warehouse.

[0045] S02. The automatic loading and unloading mechanism connects the feeding conveyor belt 37 with the logistics warehouse conveyor belt that needs to be transported through the lifting belt 21 and the linear slide bar 16. The material is transported to the feeding conveyor belt 37 through the transmission between the conveyor belts. Then the feeding conveyor belt 37 moves to its own shelf entrance. The lifting belt raises the three feeding conveyor belts 37 to a certain height. The transmission plate 31 of the bottom drive conveyor belt 30 sends the material on the feeding conveyor belt 37 into the shelf as a whole. After the lifting belt 21 descends to a certain height, the unloading is completed. The bottom drive conveyor belt 30 then resets the feeding conveyor belt 37 through the transmission plate 31.

[0046] S03. Repeat step two until the shelf is full of materials.

[0047] S04. After the shelf is full of materials, the AGV trolley travels to the unloading point, and the feeding conveyor belt 37 connects with the logistics warehouse conveyor belt to unload the materials from the shelf into the corresponding logistics warehouse. The unloading steps are the reverse of the loading sequence in step two.

[0048] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. An automatic loading and unloading device based on a dual-steering wheel AGV trolley, characterized in that, include: The system includes an AGV (Automated Guided Vehicle) trolley, an automatic loading and unloading mechanism, and a rack. The automatic loading and unloading mechanism and the rack are both located on the upper part of the AGV trolley. The automatic loading and unloading mechanism is located on one side of the rack. The automatic loading and unloading mechanism includes a lateral movement mechanism, a lifting conveyor belt mechanism, and a pallet conveying mechanism. The lateral movement mechanism is located on the upper surface of the AGV trolley. The lifting conveyor belt mechanism is located on the lateral movement mechanism. The pallet conveying mechanism is located on the lifting conveyor belt mechanism. The lifting conveyor belt mechanism includes a slide rod fixing seat, a linear slide rod, a linear slider, a top cover, lifting side plates, a lifting base plate, a lifting mechanism, and a driving mechanism. The linear slide rod is fixed on the base plate via the slide rod fixing seat. The top cover is located at the top of the linear slide rod. The linear slider is slidably disposed within the linear slide rod. The lifting side plates are fixed to the inner side of the linear slider. The lifting base plate is located at the bottom of the two lifting side plates. The lifting mechanism is located on both sides of the lifting side plates and is fixedly connected to the lifting side plates. The driving mechanism is disposed on the transverse moving mechanism and is drivenly connected to the lifting mechanism. The pallet conveying mechanism includes a second drive motor, a drive conveyor belt, a transmission plate, and a feeding mechanism. The second drive motor and the drive conveyor belt are mounted on the lifting base plate. The drive shaft of the drive conveyor belt is fixedly connected to the second drive motor. The transmission plate is U-shaped and is longitudinally mounted on the drive conveyor belt. The feeding mechanism is mounted on the lifting side plate and is driven by the transmission plate. The feeding mechanism comprises three components, which are longitudinally arranged above the drive conveyor belt. The feeding mechanisms are fixedly connected by connecting plates. Each feeding mechanism includes a fixed base, a feeding slide bar, a feeding slider, a toggle sleeve, a feeding conveyor belt, and a transverse straight rod. The fixed base is located at the front and rear ends of the inner side of the lifting side plate. The feeding slide bar is located between the fixed bases. The feeding slider is slidably arranged in the feeding slide bar. The outer sides of the upper and lower feeding sliders are fixedly connected by connecting plates. A toggle sleeve is provided on the feeding slider. Feeding conveyor belts are symmetrically arranged between the toggle sleeves and connected by transverse straight rods.

2. The automatic loading and unloading device based on a dual-steering wheel AGV trolley according to claim 1, characterized in that, The lateral movement mechanism includes a first horizontal slide rail, a second horizontal slide rail, a flange-type slider, a first drive motor, a guide screw, a screw support, a screw nut, and a fixed base plate. The screw support and the first drive motor are mounted on the upper surface of the AGV trolley. The guide screw is rotatably mounted in the screw support and is fixedly connected to the output end of the first drive motor. The screw nut is threaded into the guide screw and is fixedly connected to the fixed base plate. The first and second horizontal slide rails are symmetrically arranged on both sides of the guide screw. The flange-type slider is slidably mounted in the first and second horizontal slide rails, and the upper surface of the flange-type slider is located at the four corners of the fixed base plate.

3. An automatic loading and unloading device based on a dual-steering wheel AGV trolley according to claim 2, characterized in that, The lifting mechanism includes a lifting belt, a lifting belt fixing plate, and a lifting belt fixing frame. The lifting belt fixing frame is correspondingly installed on the fixed base plate and the upper cover. The lifting belt is rotatably installed in the lifting belt fixing frame. The lifting belt fixing plate is installed on the lifting belt and is fixedly connected to the lifting side plate.

4. An automatic loading and unloading device based on a dual-steering wheel AGV trolley according to claim 3, characterized in that, The drive mechanism includes a stepper motor, a stepper reducer, a synchronous belt, a synchronous shaft, a drive wheel, and a driven wheel. The stepper motor and the stepper reducer are both fixed on the lifting base plate. The drive wheel is driven and connected to the stepper motor through the stepper reducer. The synchronous shaft is set between the lifting belt fixing frames on the fixed base plate. The driven wheel is set on the synchronous shaft. The drive wheel and the driven wheel are driven and connected through the synchronous belt.

5. An automatic loading and unloading device based on a dual-steering wheel AGV trolley according to claim 4, characterized in that, The AGV includes a frame, dual steering wheels, omnidirectional wheels, a battery compartment, a safety edge, an obstacle avoidance mechanism, and a control system. The dual steering wheels are diagonally located at the bottom of the frame, and the omnidirectional wheels are diagonally located on the other side of the bottom of the frame. The battery compartment is located in the frame, and the safety edge is horizontally located on the side plate of the frame. The obstacle avoidance mechanism and the control system are both located on the frame. The first drive motor, the stepper motor, the second drive motor, the dual steering wheels, the battery compartment, and the obstacle avoidance mechanism are all electrically connected to the control system.

6. An automatic loading and unloading device based on a dual-steering wheel AGV trolley according to claim 5, characterized in that, The obstacle avoidance mechanism includes an obstacle avoidance radar and a QR code camera. The obstacle avoidance radar is installed in the middle of the side panels at the front and rear of the vehicle frame. The obstacle avoidance radar is installed at a height of 220mm above the ground and is tilted upwards at a 5-degree angle. It is used for detecting, avoiding, and measuring highly reflective objects. The QR code camera is installed on both sides of the vehicle frame, facing the ground.

7. An automatic loading and unloading device based on a dual-steering wheel AGV trolley according to claim 1, characterized in that, The shelf includes an aluminum profile frame and material trays; the aluminum profile frame is assembled from aluminum profiles into 3×6 rectangular storage compartments, and a material tray is placed at each vertex of each rectangular storage compartment.

Images