Material transfer device based on AGV

Abstract

The invention belongs to the field of transfer equipment, and particularly relates to an AGV (automatic guided vehicle)-based material transfer device which comprises an automatic guided vehicle, a material frame and a positioning tubular column, the automatic guide vehicle is provided with a lifting unit; positioning columns are arranged on the two sides of the material frame. The positioning pipe columns are arranged at a feeding position and a discharging position; the positioning pipe column is matched with the positioning column and is used for positioning the position of the material rack; in the process that the automatic guide vehicle moves to the position below the material frame and lifts the material frame through the lifting unit, in the process that the material frame is put down, the positioning column is inserted into the top of the positioning pipe column, positioning of the material frame is completed, it is ensured that the mechanical arm can accurately place the materials on the material frame, the materials can be neatly placed, and after the materials are placed, the automatic guide vehicle is automatically controlled. The lifting unit lifts the material frame, the positioning column is separated from the positioning tubular column, the materials can be transferred to the designated position, the operation can be repeated, the material frame is repositioned, a mechanical arm can accurately grab the materials conveniently, and therefore the positioning difficulty of the material frame is lowered, and the working efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the field of transfer equipment, and in particular relates to a material transfer device based on AGV. Background Art

[0002] AGV (Automated Guided Vehicle) is an unmanned transport equipment with functions such as automatic navigation, handling, positioning, and obstacle avoidance. AGV usually uses laser, visual, electromagnetic and other navigation methods, and can drive autonomously in complex environments to complete various transportation tasks.

[0003] Modern factories use intelligent AGVs to move material racks, place materials in the racks, and transfer materials to designated locations to reduce the burden on workers and improve work efficiency.

[0004] However, in the prior art, it is difficult to accurately place the material rack at a fixed position, and a relatively complex positioning mechanism or system is required to ensure that the robot can accurately place the material on the material rack; moreover, the materials are placed in a disorderly manner in the material rack and will move during the movement, so that the robot cannot be used to accurately grab the materials at the unloading position, and the placement of the materials needs to be manually adjusted. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a material transfer device based on AGV, which reduces the difficulty of positioning the material rack and improves the working efficiency.

[0006] The present invention provides an AGV-based material transfer device, comprising: An automatic guided vehicle having a lifting unit; A material rack, with positioning columns disposed on both sides of the material rack; and A positioning column, which is arranged at a loading position and a unloading position; the positioning column is plugged and matched with the positioning column to locate the position of the material rack; The automatic guided vehicle moves to the bottom of the material rack and lifts the material rack through the lifting unit.

[0007] Optionally, the material rack includes a pallet, a plurality of legs arranged at the bottom of the pallet, and a material carrier arranged at the top of the pallet, and the material carrier includes a frame and a plurality of partitions arranged in the frame, for forming a plurality of placement bins in the frame.

[0008] Optionally, an elastic member is provided on the partition, and the elastic member abuts against the material to stabilize the material.

[0009] Optionally, the elastic member includes a mounting plate and a spring sheet fixed on the mounting plate, and the mounting plate is detachably connected to the partition.

[0010] Optionally, the elastic member is only arranged on one side of the partition.

[0011] Optionally, the material carrier further comprises a bottom plate arranged at the bottom of the frame, and a rib plate arranged at the top of the bottom plate, wherein the rib plate divides the inner side of the frame into at least two areas, and a plurality of partition plate arrays are distributed on both sides of the rib plate.

[0012] Optionally, the bottom of the material carrier is connected to the top of the support plate via pins and positioning holes.

[0013] Optionally, the lifting unit is connected to the material rack via a concave-convex structure; and / or the lifting unit is connected to the material rack via electromagnetic force and magnetic attraction.

[0014] Optionally, a plurality of protrusions are provided on the top of the lifting unit, and a plurality of positioning grooves are provided on the bottom of the material rack, and the protrusions cooperate with the positioning grooves.

[0015] Optionally, the end of the positioning column is a pointed cone structure.

[0016] The beneficial effect of the present invention is that the material rack is first transferred to the side of the positioning column by an automatic guided vehicle or other means, and the positioning column is aligned with the positioning column by manually assisting the movement of the material rack. During the process of the lifting unit on the automatic guided vehicle lowering the material rack, the positioning column is plugged into the top of the positioning column to complete the positioning of the material rack, ensuring that the manipulator can accurately place the material on the material rack so that the material can be neatly arranged. After the material is placed, the lifting unit lifts the material rack to separate the positioning column from the positioning column, and the material can be transferred to the specified position. The above operation can be repeated to reposition the material rack, making it easier for the manipulator to accurately grab the material, thereby reducing the difficulty of positioning the material rack and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the material transfer device of the present invention; Figure 2 It is a schematic diagram of the explosion structure of the material rack of the present invention; Figure 3 It is a schematic diagram of the structure of the elastic member of the present invention; Figure 4 It is a structural schematic diagram of the automatic guided vehicle of the present invention; Figure 5 It is a structural schematic diagram of the positioning pipe column of the present invention.

[0018] In the figure: 100, automatic guided vehicle; 110, lifting unit; 111, protrusion; 200, material rack; 210, positioning column; 220, support plate; 221, positioning hole; 230, support leg; 240, material carrier; 241, frame; 242, partition; 243, elastic member; 2431, mounting plate; 2432, spring piece; 244, bottom plate; 245, rib plate; 300, positioning column. DETAILED DESCRIPTION

[0019] like Figure 1 As shown, the present invention provides an AGV-based material transfer device, including: an automatic guided vehicle 100, a material rack 200 and a positioning column 300; wherein the automatic guided vehicle 100 has a lifting unit 110; positioning columns 210 are arranged on both sides of the material rack 200; the positioning column 300 is arranged at a loading position and a unloading position; the positioning column 300 is plugged into and matched with the positioning column 210 to locate the position of the material rack 200; the automatic guided vehicle 100 moves to the bottom of the material rack 200 and lifts the material rack 200 through the above-mentioned lifting unit 110.

[0020] Compared with the prior art, the AGV-based material transfer device provided by the present invention first transfers the material rack 200 to the side of the positioning column 300 through the automatic guided vehicle 100 or other means, and aligns the positioning column 210 with the positioning column 300 through manual assistance. During the process of the lifting unit 110 on the automatic guided vehicle 100 lowering the material rack 200, the positioning column 210 is plugged into the top of the positioning column 300 to complete the positioning of the material rack 200, ensuring that the manipulator can accurately place the material on the material rack 200 so that the material can be neatly arranged. After the material is placed, the lifting unit 110 lifts the material rack 200 to disengage the positioning column 210 from the positioning column 300, and the material can be transferred to the specified position. The above operation can be repeated to reposition the material rack 200, which is convenient for the manipulator to accurately grab the material, thereby reducing the difficulty of positioning the material rack 200 and improving the working efficiency.

[0021] It should be noted that the material rack 200 can be directly moved manually so that the positioning column 210 and the positioning pipe column 300 are plugged and matched to complete the positioning of the material rack 200.

[0022] In one embodiment, the material rack 200 includes a support plate 220, a plurality of legs 230 disposed at the bottom of the support plate 220, and a material carrier 240 disposed at the top of the support plate 220. The material carrier 240 includes a frame 241 and a plurality of partitions 242 disposed in the frame 241, which are used to form a plurality of placement bins in the frame 241. For some bulk materials, such as waste batteries, one can be placed in each placement bin, and a suitable interval is provided between adjacent materials, which is convenient for the robot to grasp, and also avoids the robot colliding with the materials, and also avoids collisions between materials, thereby reducing the risk of material damage. This material carrier 240 with multiple placement bins is also conducive to the robot to accurately grasp the materials, so the accuracy of material placement is also required, making the positioning accuracy of the material rack 200 more necessary.

[0023] In one embodiment, an elastic member 243 is disposed on the partition 242, and the elastic member 243 abuts against the material to stabilize the material. Specifically, when the material is placed in the placement bin, the elastic member 243 is squeezed by its own gravity and / or the force of the manipulator, so that the elastic member 243 is closely attached to the material, thereby preventing the material from shaking during transportation, and causing displacement or flipping.

[0024] In one embodiment, the elastic member 243 includes a mounting plate 2431 and a spring piece 2432 fixed on the mounting plate 2431, and the mounting plate 2431 is detachably connected to the partition 242. Specifically, the partition 242 is provided with a screw hole, and the mounting plate 2431 is provided with two or more through holes, and the mounting plate 2431 is fixed to the partition 242 by screwing with the screw holes on the mounting plate 2431 through a plurality of screws, and the spring piece 2432 is welded and fixed to the mounting plate 2431. Of course, a slot can be provided on the partition 242, and the mounting plate 2431 is inserted into the slot to achieve the installation of the elastic member 243 and the partition 242.

[0025] In one embodiment, the elastic member 243 is only arranged on one side of the partition 242. In this way, the elastic member 243 can push the material to be close to the side of the adjacent partition 242, so that the adjacent partition 242 is used as a positioning reference to ensure the accuracy of the material position, which is conducive to the manipulator to accurately grasp the material. It should be noted that, preferably, the elastic members 243 are arranged in the same direction. Of course, the elastic members 243 can also be arranged on both sides of the partition 242.

[0026] In one embodiment, the material carrier 240 further includes a bottom plate 244 disposed at the bottom of the frame 241 and a rib plate 245 disposed at the top of the bottom plate 244 . The rib plate 245 divides the inner side of the frame 241 into at least two areas, and a plurality of partition plates 242 are distributed in an array on both sides of the rib plate 245 .

[0027] In one embodiment, the bottom of the material carrier 240 is connected to the top of the pallet 220 via a pin and a positioning hole 221, which serves to improve the convenience of connecting and separating the material carrier 240 and the pallet 220. In an alternative embodiment, the material carrier 240 and the pallet 220 may be connected via screws.

[0028] In one embodiment, the lifting unit 110 and the material rack 200 are connected by a concave-convex structure, which can improve the convenience of connecting and separating the lifting unit 110 and the material rack 200. Of course, the lifting unit 110 and the material rack 200 are connected by electromagnetic force and magnetic attraction, which can also improve the convenience of connecting and separating the lifting unit 110 and the material rack 200. In an alternative embodiment, the lifting unit 110 and the material rack 200 can be connected by screws.

[0029] In a specific embodiment, a plurality of protrusions 111 are disposed on the top of the lifting unit 110 , and a plurality of positioning grooves are disposed on the bottom of the material rack 200 . The protrusions 111 cooperate with the positioning grooves to achieve rapid connection and separation of the lifting unit 110 and the material rack 200 .

[0030] In one embodiment, the end of the positioning column 210 is a pointed cone structure. Specifically, the pointed cone structure can guide the positioning column 210 to smoothly cooperate with the positioning column 300. Furthermore, the end surface of the center hole of the positioning column 300 is a conical surface, which improves the guiding effect on the positioning column 210.

[0031] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of protection of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0032] One or more embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A material transfer device based on AGV, characterized in that: include: An automatic guided vehicle (100), the automatic guided vehicle (100) having a lifting unit (110); A material rack (200), wherein positioning columns (210) are provided on both sides of the material rack (200); and A positioning column (300), the positioning column (300) being arranged at a loading position and a unloading position; the positioning column (300) is plugged into and matched with the positioning column (210) to locate the position of the material rack (200); The automatic guided vehicle (100) moves to the bottom of the material rack (200) and lifts the material rack (200) through the lifting unit (110).

2. The AGV-based material transfer device according to claim 1, characterized in that: The material rack (200) comprises a support plate (220), a plurality of legs (230) arranged at the bottom of the support plate (220), and a material carrier (240) arranged at the top of the support plate (220); the material carrier (240) comprises a frame (241) and a plurality of partitions (242) arranged in the frame (241), and is used to form a plurality of storage bins in the frame (241).

3. The AGV-based material transfer device according to claim 2, characterized in that: An elastic member (243) is provided on the partition plate (242), and the elastic member (243) abuts against the material to stabilize the material.

4. The AGV-based material transfer device according to claim 3, characterized in that: The elastic member (243) comprises a mounting plate (2431) and a spring sheet (2432) fixed on the mounting plate (2431); the mounting plate (2431) and the partition plate (242) are detachably connected.

5. The AGV-based material transfer device according to claim 4, characterized in that: The elastic member (243) is only arranged on one side of the partition plate (242).

6. The AGV-based material transfer device according to any one of claims 2 to 5, characterized in that: The material carrier (240) further comprises a bottom plate (244) arranged at the bottom of the frame (241), and a rib plate (245) arranged at the top of the bottom plate (244); the rib plate (245) divides the inner side of the frame (241) into at least two areas, and a plurality of partition plates (242) are arranged in an array on both sides of the rib plate (245).

7. The AGV-based material transfer device according to any one of claims 2 to 5, characterized in that: The bottom of the material carrier (240) is connected to the top of the support plate (220) via a pin and a positioning hole (221).

8. The AGV-based material transfer device according to any one of claims 1 to 5, characterized in that: The lifting unit (110) and the material rack (200) are connected by means of a concave-convex structure; and / or the lifting unit (110) and the material rack (200) are connected by means of electromagnetic force and magnetic attraction.

9. The AGV-based material transfer device according to claim 8, characterized in that: The top of the lifting unit (110) is provided with a plurality of protrusions (111), and the bottom of the material rack (200) is provided with a plurality of positioning grooves, and the protrusions (111) match the positioning grooves.

10. The AGV-based material transfer device according to any one of claims 1 to 5, characterized in that: The end of the positioning column (210) is a pointed cone structure.

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