An automatic bar material transportation device and system based on AGV

Abstract

The present application relates to the technical field of intelligent feeding equipment. The purpose of the present application is to provide an automatic bar transportation device and system based on AGV, wherein the transportation device includes a truss transportation mechanism and an AGV, wherein the truss transportation mechanism is used to transfer the bars from a bar storage rack to the AGV, wherein the bar storage rack is provided with multiple bars and arranged in parallel below the truss, wherein the truss transportation mechanism includes a manipulator and a three-way driving mechanism for driving the manipulator to move, wherein the manipulator includes multiple supporting rods and a material picking rotating mechanism for driving the supporting rods to rotate; the AGV is used to transport the bars to the material bin of a processing machine tool, wherein the AGV is connected to a cache plate arranged downwardly inclined, wherein multiple discharge baffles vertically rotatably connected to the AGV are arranged below the cache plate, and the cache plate and the discharge baffle form a cache space.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent feeding equipment, and in particular to an AGV-based automatic bar material transportation device and system. Background Art

[0002] With the continuous advancement of science and technology, artificial intelligence has been widely used in various fields, among which intelligent production lines are one of the main application areas of artificial intelligence.

[0003] In the intelligent production line, artificial intelligence equipment is used to replace manual labor to complete all production steps of feeding, transportation, processing and discharging. The application of artificial intelligence equipment not only liberates human labor, but also improves the production efficiency and accuracy of the entire production system.

[0004] In intelligent production lines, artificial intelligence equipment needs to be designed with corresponding functions based on the different equipment, raw materials, processing methods, etc. used in production.

[0005] In the related art, the bar processing production line is generally composed of a silo, a manipulator and a processing machine tool. The silo is arranged on one side of the processing machine tool to hold the bar materials used by the processing machine tool. The bar materials are manually placed in the silo, and then the manipulator places the bar materials in the silo into the feed end of the processing machine tool one by one. The processing machine tool processes each bar material in turn. However, the processing of a single bar material takes a long time, and the number of processing machine tools in large-scale production sites is large. In the process of bar material processing, it is still necessary to manually replenish the bar materials in the silo. Moreover, since the processing of the bar materials takes a long time, the replenishment time of each processing machine tool is inconsistent, which further increases the difficulty of manual replenishment. At the same time, each processing machine tool has a long processing time, and each processing machine tool is equipped with upper and lower bar material manipulators separately. The utilization rate of the manipulator is low, the energy consumption is large, and the waste is serious. Summary of the invention

[0006] The purpose of the present application is to provide an AGV-based automatic bar material transportation device and system, wherein the transportation device is used to automatically replenish bar material processing machines to improve the intelligent level of bar material processing.

[0007] The above application objectives of this application are achieved through the following technical solutions:

[0008] In a first aspect, the present application provides an AGV-based automatic bar material transportation device that adopts the following technical solution.

[0009] An AGV-based automatic bar material transportation device, the transportation device comprises a truss transportation mechanism and an AGV,

[0010] The truss transport mechanism is used to transfer the bars from the bar placing rack to the AGV. The bar placing rack is provided with a plurality of bars and arranged in parallel below the truss. The truss transport mechanism includes a manipulator and a three-way driving mechanism for driving the manipulator to move. The manipulator includes a plurality of supporting rods and a material picking rotating mechanism for driving the supporting rods to rotate.

[0011] The AGV is used to transport bar materials to the material bin of a processing machine tool. The AGV is connected to a downwardly inclined buffer plate, and a plurality of discharge baffles vertically rotatably connected to the AGV are arranged below the buffer plate. The buffer plate and the discharge baffle form a buffer space.

[0012] In a preferred embodiment, the cache plate is vertically rotatably connected to the AGV, and the cache plate is connected to a cache driving device for driving the cache plate to rotate.

[0013] In a preferred embodiment, the buffer plate is fixedly connected to the AGV, and a clearance groove cooperating with a discharge baffle is provided on the side of the buffer plate away from the AGV, and the discharge baffle is connected to a discharge drive device for driving the discharge baffle to rotate.

[0014] In a preferred embodiment, cache baffles are provided on both sides of the cache plate.

[0015] In a preferred embodiment, the AGV is equipped with a bar holder, the top of the bar holder extends outward toward one side of the AGV to form an extension holder, and the buffer plate and the discharge baffle are both arranged on the extension holder.

[0016] In a preferred embodiment, the AGV is fixedly provided with a material storage baffle on the other side of the material discharge baffle, and a material storage sealing plate is arranged on the top of the AGV. The material storage sealing plate and the material storage baffle form a material storage space, and the bottom of the material storage sealing plate is connected to a material replenishment drive mechanism for driving the material storage sealing plate to rotate.

[0017] In a preferred embodiment, the cache baffle is fixedly connected to a limiting member on the inner side facing the cache space, and the rods are laid in a single row in the cache space under the limiting action of the limiting member.

[0018] In a preferred embodiment, the positions of the limiting member and the discharge baffle satisfy:

[0019] When the material discharge baffle rotates to the first position, the truss transport mechanism moves the bar material on the supporting rod to the buffer space through the material discharge baffle;

[0020] When the material discharge baffle rotates to the second position, the bar material in the material storage space is sent to the top of the buffer plate under the action of the material replenishment driving mechanism, and the material discharge baffle is clamped into the clearance groove.

[0021] In a preferred embodiment, transverse placement rods are symmetrically arranged on both sides of the bar material placement rack, and tooth grooves cooperating with the bars are arranged above the transverse placement rods. The material picking rotation mechanism includes a material picking motor and a first rotating rod coaxially fixedly connected to the output shaft of the material picking motor. The first rotating rod is horizontally arranged, and the supporting rod is fixedly connected to the first rotating rod.

[0022] In the second aspect, the present application provides an AGV-based automatic bar material transportation system that adopts the following technical solution.

[0023] An AGV-based automatic bar transport system comprises the automatic bar transport device and a controller for driving the AGV and a truss transport mechanism to work.

[0024] In summary, the present application includes the following beneficial effects: during the automatic transportation of bar materials, when the processing machine tool needs to be replenished, the truss transportation mechanism transfers the bar materials on the bar material rack to the cache space of the AGV according to the replenishment demand, and the AGV transfers the bar materials to the material bin of the processing machine tool and puts the bar materials into the material bin. The cooperation between the truss transportation mechanism and the AGV realizes the automatic transportation of the bar materials from the bar material storage area to the material bin, and improves the intelligent level of bar material processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a top view of the overall structure of the automatic transport device in the embodiment of the present application.

[0026] Figure 2 It is a schematic diagram of the structure of the bar material placement rack in the embodiment of the present application.

[0027] Figure 3 It is a schematic diagram of the structure of the manipulator in the embodiment of the present application.

[0028] Figure 4 This is a schematic diagram of the AGV structure in Example 1 of the present application.

[0029] Figure 5 It is a schematic diagram of the rod support structure in Example 1 of the present application.

[0030] Figure 6 This is a schematic diagram of the AGV structure in Example 2 of the present application.

[0031] Figure 7 This is a schematic diagram of the AGV structure in Example 3 of the present application.

[0032] Figure 8 It is a schematic diagram of the material storage sealing plate structure in Example 3 of the present application.

[0033] Fig. 9 It is a schematic diagram of the cache baffle and limit member structure in Example 3 of the present application.

[0034] Fig.10 This is a schematic diagram of the limiting effect of the limiting member on the rod material in the third embodiment of the present application.

[0035] Description of reference numerals: 1. Truss transport mechanism; 11. Manipulator; 111. Retrieving bracket; 112. Retrieving motor; 113. First rotating rod; 114. Supporting rod; 12. Three-way driving mechanism; 2. AGV; 21. Machine body; 211. Bar bracket; 212. Extended bracket; 213. Bar limiting plate; 2131. Feeding hole; 22. Moving structure; 23. Cache plate; 231. Giving way; 232. Cache baffle; 2321. Limiting member; 24. Material discharge baffle; 25. Material discharge drive device; 251. Material discharge drive motor; 252. Second rotating rod; 26. Cache drive device; 261. Third rotating rod; 27. Material storage baffle; 28. Material storage sealing plate; 281. Material trough; 29. ​​Material replenishment drive mechanism; 291. Material replenishment drive motor; 292. Fourth rotating rod; 3. Bar storage area; 31. Material receiving area; 4. Bar placement rack; 41. Fixed column; 42. Horizontal placement rod; 421. Tooth groove. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0037] In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article, unless otherwise specified, generally means that the associated objects before and after are in an "or" relationship.

[0038] Embodiment 1:

[0039] Reference Figure 1 The present application provides an automatic bar material transportation device based on AGV2, wherein the transportation device comprises a truss transportation mechanism 1 and AGV2, wherein the truss transportation mechanism 1 is arranged above a bar material storage area 3, wherein the bar material storage area 3 is provided with a material receiving area 31 and a plurality of bar material placement racks 4 arranged in parallel, and the AGV2 is parked in the material receiving area 31, wherein the truss transportation mechanism 1 transports the bar material on the bar material placement rack 4 to the AGV2, and then transports the bar material to the material bin of the processing machine tool through the AGV2.

[0040] Reference Figure 2 The bar stock rack 4 includes a vertical fixed column 41 and transverse placement rods 42 symmetrically arranged on both sides of the fixed column. The same bar stock rack 4 is provided with multiple transverse placement rods 42. The transverse placement rods 42 located on the same side of the fixed column 41 are located on the same vertical plane, and the vertical spacing of the transverse placement rods 42 is the same. When the bar stock rack 4 is arranged below the truss, the transverse placement rods 42 of multiple bar stock racks 4 are parallel to each other. A tooth groove 421 matching with the bar is arranged above the transverse placement rod 42, and the bar is placed on the bar stock rack 4 through the tooth groove 421. When the bar is placed on the bar stock rack 4, the bar is placed horizontally, and the same bar is placed on the tooth groove 421 at the same position of multiple bar stock racks 4. In a preferred example, the teeth of the tooth groove 421 are conical.

[0041] The arrangement of the bar placing rack 4 can not only provide a placement position for the bars, but also the design of the tooth groove 421 can stably place the bars and prevent the bars from moving during the bar placing process, thereby facilitating intelligent material retrieval from the bar placing rack 4.

[0042] Reference Figure 1 and Figure 3 The truss transport mechanism 1 includes a manipulator 11 and a three-way driving mechanism 12 for driving the manipulator 11 to move, and the truss transport mechanism 1 takes materials from the bar material placement rack 4 through the manipulator 11. Among them, the three-way driving mechanism 12 is the inherent structure of the truss in the related art, and this application will not repeat it.

[0043] The manipulator 11 includes a plurality of material supporting rods 114 and a material picking rotating mechanism for driving the material supporting rods 114 to rotate. The material picking rotating mechanism includes a material picking bracket 111, a material picking motor 112 and a first rotating rod 113. The material picking bracket 111 is fixedly connected to the bottom of the Z axis of the three-way driving mechanism 12. The material picking motor 112 is fixedly connected to one end below the material picking bracket 111. The first rotating rod 113 is horizontally arranged. The first rotating rod 113 is fixedly connected to the output shaft of the material picking motor 112 and is coaxial with the output shaft. The material supporting rod 114 is fixedly connected to the first rotating rod 113, and the material supporting rods 114 connected to the same first rotating rod 113 are parallel to each other. When the material picking motor 112 is working, it drives the first rotating rod 113 to rotate, thereby driving the material supporting rod 114 to rotate. The rotation range of the material supporting rod 114 at least includes rotating from a horizontal position on one side of the first rotating rod 113 to a horizontal position on the other side of the first rotating rod 113.

[0044] When it is necessary to pick up materials, the manipulator 11 is driven by the truss transport mechanism 1 to move to the corresponding bar material placement rack 4, and the material picking rotation mechanism drives the supporting rod 114 to rotate to a horizontal position facing the corresponding bar material, and then the truss transport mechanism 1 drives the supporting rod 114 to move under the corresponding bar material, and when the supporting rod 114 moves upward, the bar material can be removed from the bar material placement rack 4.

[0045] In a preferred example, the support rod 114 is provided with a material taking tooth, and the bar is placed on the support rod 114 through the material taking tooth. When the support rod 114 takes the material, the setting of the material taking tooth can prevent the bar from rolling on the support rod 114. The gap of the material taking tooth is the same as the gap of the tooth groove 421. At the same time, the tooth groove 421 on the horizontal placement rod 42 cooperates with the material taking tooth on the support rod 114, so that the manipulator 11 can obtain a preset number of bars from the bar placement rack 4 according to the material taking demand when taking the material in a single time.

[0046] Further, see Figure 4 In one embodiment, the AGV2 includes a rectangular body 21, a mobile structure 22 is arranged below the body 21, a downwardly inclined buffer plate 23 is connected to one side of the body 21, and a plurality of discharge baffles 24 vertically rotatably connected to the AGV2 are arranged below the buffer plate 23, and the buffer plate 23 and the discharge baffle 24 form a buffer space.

[0047] Reference Figure 4 and Figure 5 The machine body 21 is provided with a bar support 211 , the top of the bar support 211 extends toward the buffer plate 23 to form an extension support 212 , and the buffer plate 23 and the discharge baffle 24 are both arranged on the extension support 212 .

[0048] The buffer plate 23 is fixedly connected above the extension bracket 212, and the material discharge baffle 24 is connected to the extension bracket 212 through a material discharge driving device 25 that drives the material discharge baffle 24 to rotate. The material discharge driving device 25 includes a material discharge driving motor 251 fixedly connected to the end of the extension bracket 212 and a second rotating rod 252 connected to the output shaft of the material discharge driving motor 251, and the second rotating rod 252 is horizontally arranged and coaxial with the output shaft of the material discharge driving motor 251.

[0049] Furthermore, a side of the buffer plate 23 away from the AGV2 is provided with a clearance groove 231 that cooperates with the material discharge baffle 24, and the side of the clearance groove 231 away from the AGV2 is open. Under normal conditions, the material discharge baffle 24 is located in the clearance groove 231, and the material discharge baffle 24 is tilted upward, and the discharged bar material can be stored in the cache space formed by the material discharge baffle 24 and the buffer plate 23. After the AGV2 completes the material collection, the AGV2 moves to the material bin of the processing machine tool, so that the extension bracket 212 extends above the material bin. When the material discharge drive motor 251 is working, the material discharge baffle 24 is driven to rotate downward through the second rotating rod 252 until the material discharge baffle 24 tilts downward, so that the bar material in the cache space slides along the material discharge baffle 24 into the material bin.

[0050] Furthermore, cache baffles 232 are provided on both sides of the cache plate 23 . When the bar materials are stored in the cache space, the cache baffles 232 can limit the bar materials and prevent the bar materials from sliding off the two sides of the cache plate 23 .

[0051] During the automatic transportation of bars, when the processing machine tool needs to be replenished, the truss transportation mechanism 1 transfers the bars on the bar placement rack 4 to the cache space of AGV2 according to the replenishment demand, and AGV2 transfers the bars to the material bin of the processing machine tool and puts the bars into the material bin. The cooperation of the truss transportation mechanism 1 and AGV2 realizes the automatic transportation of bars from the bar storage area 3 to the material bin, and improves the intelligent level of bar processing.

[0052] Embodiment 2:

[0053] Reference Figure 6 The difference between this embodiment and the first embodiment is that:

[0054] The cache plate 23 is vertically rotatably connected to the AGV2, and the cache plate 23 is connected to a cache driving device 26 that drives the cache plate 23 to rotate. The discharge baffle 24 is fixedly connected to the AGV2 or connected to the extension bracket through the discharge driving device 25. In the embodiment of the present application, the discharge baffle 24 is preferably fixedly connected to the extension bracket 212.

[0055] The cache drive device 26 includes a cache drive motor (not shown) and a third rotating rod 261 connected to the cache drive motor, and the cache plate 23 is fixedly connected to the third rotating rod 261. When the third rotating rod 261 rotates, the cache plate 23 is rotated, and the cache plate 23 slides along the clearance groove 231, and the bar material in the cache space is pushed out along the discharge baffle 24, so that the bar material is stored in the silo. The cache drive device 26 has the same structure and working principle as the discharge drive device 25, and the embodiment of the present application will not be repeated.

[0056] Embodiment three:

[0057] The difference between the embodiment of the present application and the first embodiment is that:

[0058] Reference Figure 7 and Figure 8 The AGV2 is fixedly provided with a vertical material storage baffle 27 on the other side of the material discharge baffle 24, and a material storage sealing plate 28 is provided on the top of the AGV2. The material storage sealing plate 28 and the material storage baffle 27 form a material storage space, and the bottom of the material storage sealing plate 28 is connected to a material replenishment driving mechanism 29 that drives the material storage sealing plate 28 to rotate.

[0059] The feeding drive mechanism 29 includes a feeding drive motor 291 and a fourth rotating rod 292 fixedly connected to the output shaft of the feeding drive motor 291. The fourth rotating rod 292 is arranged horizontally. One side of the material storage sealing plate 28 is fixedly connected to the fourth rotating rod 292. The other side of the material storage sealing plate 28 is provided with a material taking trough 281 cooperating with the material supporting rod 114. Under normal conditions, one end of the material storage sealing plate 28 provided with the material taking trough 281 is arranged upwardly tilted, the truss transport mechanism 1 moves to the position of the material storage sealing plate 28, and the material supporting rod 114 is stuck in the material taking trough 281. Then, the truss transport mechanism 1 drives the material supporting rod 114 to move horizontally away from the AGV2, so that the bar material on the material supporting rod 114 rolls down into the material storage space.

[0060] Reference Fig. 9 and Fig.10 , the cache baffle 232 is fixedly connected to the inner side facing the cache space with a limiting member 2321, and the limiting member 2321 is in the shape of a long rod and is arranged horizontally. The limiting members 2321 are configured with multiple ones, and the bar materials are laid in a single row on the cache plate 23 of the cache space under the limiting action of the multiple limiting members 2321. When the bar materials in the storage space need to be supplemented to the cache plate 23, the storage sealing plate 28 is driven to rotate downward by the replenishment driving motor 291, so that the bar materials in the storage space are moved to the cache plate 23. Due to the setting of the limiting member 2321, the bar materials can only be laid in a single row on the cache plate 23. When the discharge baffle 24 rotates to different positions, the number of bar materials that can be stored on the cache plate 23 corresponds to the position of the discharge baffle 24, which is a fixed number.

[0061] Among them, the positions of the limit member 2321 and the discharge baffle 24 satisfy: when the discharge baffle 24 rotates to the first position, the truss transport mechanism 1 transfers the rods on the supporting rod 114 to the cache space through the discharge baffle 24; when the discharge baffle 24 rotates to the second position, the rods in the storage space are sent to the top of the cache plate 23 under the action of the feeding drive mechanism 29, and the discharge baffle 24 is stuck in the make way groove 231.

[0062] When the material discharge baffle 24 is in the first position, it means that AGV2 needs to replenish materials for a single processing machine tool at one time. At this time, the truss transport mechanism 1 transports the rods required for a single processing machine tool to the cache space of AGV2, and AGV2 then delivers the rods in the cache space to the corresponding silo. When the material discharge baffle 24 is in the second position, AGV2 needs to replenish materials for multiple processing machines. It should be noted that the second position has different positional expressions according to the amount of material replenishment of the processing machine tool by AGV2, that is, for a single processing machine tool, how many rods are needed for the processing machine tool, and the second position is to limit the corresponding amount of rods that the cache plate 23 can store. When replenishing multiple processing machine tools, the rods stored in the storage space are sequentially sent to the top of the cache plate 23 according to the amount of material replenishment required by each processing machine tool, and then the rods required by the processing machine tool are sent to the silo of the processing machine tool by driving the material discharge baffle 24 to rotate.

[0063] The arrangement of the material storage sealing plate 28 and the material storage baffle 27 can enable AGV2 to transport the bars required by multiple processing machine tools at one time. By setting the limiter 2321, the material discharge baffle 24 can be used to realize the replenishment quantity for a single processing machine tool. This reduces the number of times AGV2 takes materials from the bar storage area 3, which not only improves the efficiency of automatic material replenishment, but also further improves the intelligence level of the automatic transportation device.

[0064] Furthermore, a bar limiting plate 213 is provided between the storage sealing plate 28 and the buffer plate 23, and the bar limiting plate 213 is provided with a feeding hole 2131. When the bar in the storage space needs to be supplemented to the buffer space, the bar enters the buffer space through the feeding hole 2131. Under normal conditions, the free end of the storage sealing plate 28 rotates to the top of the bar limiting plate 213, so that the truss transport mechanism 1 can deliver the bar into the storage space. The bar limiting plate 213 can prevent the bar from rolling to the outside of the AGV 2.

[0065] Embodiment 4:

[0066] The embodiment of the present application provides an automatic bar material transportation system based on AGV2, and the automatic transportation system includes the automatic transportation device described in any one of the first embodiment, the second embodiment and the third embodiment, and a controller that drives the AGV2 and the truss transportation mechanism 1 to work. The controller connects the processing machine tool, AGV2 and the truss transportation mechanism 1, receives the material replenishment demand of the processing machine tool, and generates the working instructions of the AGV2 and the truss transportation mechanism 1 according to the material replenishment demand.

[0067] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0068] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An AGV-based automatic bar transport device, characterized in that: The transport device comprises a truss transport mechanism (1) and an AGV (2), wherein the truss transport mechanism (1) is used to transfer bars from a bar storage rack (4) to the AGV (2), wherein the bar storage rack (4) is provided with a plurality of bars arranged in parallel below the truss, wherein the truss transport mechanism (1) comprises a manipulator (11) and a three-way driving mechanism (12) for driving the manipulator (11) to move, and wherein the manipulator (11) comprises a plurality of supporting rods (114) and a material picking rotating mechanism for driving the supporting rods (114) to rotate; An AGV (2) is used to transport the bar material to a material bin of a processing machine tool, wherein the AGV (2) is connected to a buffer plate (23) arranged to be tilted downward, and a plurality of discharge baffles (24) vertically rotatably connected to the AGV (2) are arranged below the buffer plate (23), wherein the buffer plate (23) and the discharge baffles (24) form a buffer space; The buffer plate (23) is fixedly connected to the AGV (2); a side of the buffer plate (23) away from the AGV (2) is provided with a clearance groove (231) that cooperates with the material discharge baffle (24); and the material discharge baffle (24) is connected to a material discharge driving device (25) that drives the material discharge baffle (24) to rotate; The AGV (2) is fixedly provided with a material storage baffle (27) on the other side of the material discharge baffle (24), and a material storage sealing plate (28) is provided on the top of the AGV (2). The material storage sealing plate (28) and the material storage baffle (27) form a material storage space, and the bottom of the material storage sealing plate (28) is connected to a material replenishment driving mechanism (29) for driving the material storage sealing plate (28) to rotate; Cache baffles (232) are arranged on both sides of the cache plate (23), and the cache baffles (232) are fixedly connected to the inner side facing the cache space with a limiting member (2321), and the rods are laid in a single row in the cache space under the limiting action of the limiting member (2321).

2. The AGV-based automatic bar material transportation device according to claim 1, characterized in that: The cache plate (23) is vertically rotatably connected to the AGV (2), and the cache plate (23) is connected to a cache drive device (26) for driving the cache plate (23) to rotate.

3. The AGV-based automatic bar material transportation device according to claim 1, characterized in that: The AGV (2) is provided with a bar support (211), the top of the bar support (211) extending outwards towards one side of the AGV (2) to form an extension support, and the buffer plate (23) and the discharge baffle plate (24) are both arranged on the extension support.

4. The AGV-based automatic bar material transportation device according to claim 1, characterized in that: The positions of the limiting member (2321) and the material discharge baffle (24) satisfy that: when the material discharge baffle (24) rotates to the first position, the truss transport mechanism (1) transfers the bar material on the supporting rod (114) to the buffer space through the material discharge baffle (24); When the discharge baffle (24) rotates to the second position, the bar material in the storage space is sent to the top of the buffer plate (23) under the action of the material replenishment drive mechanism (29), and the discharge baffle (24) is locked into the clearance groove (231).

5. The AGV-based automatic bar material transportation device according to claim 1, characterized in that: The bar material placement rack (4) is symmetrically provided with transverse placement rods (42) on both sides, and tooth grooves (421) matching with the bar materials are provided above the transverse placement rods (42). The material picking rotating mechanism comprises a material picking motor (112) and a first rotating rod (113) coaxially fixedly connected to the output shaft of the material picking motor (112), the first rotating rod (113) is horizontally arranged, and the supporting rod (114) is fixedly connected to the first rotating rod (113).

6. An AGV-based bar material automatic transportation system, characterized in that: The system comprises the automatic bar transport device according to any one of claims 1 to 5 and a controller for driving the AGV (2) and the truss transport mechanism (1).

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