AGV (Automatic Guided Vehicle) transportation device

Abstract

An AGV transport device relates to the technical field of logistics handling equipment and comprises a support for fixing goods and a transfer trolley for driving the support to move, the transfer trolley comprises a main trolley body part and auxiliary trolley body parts connected to the left side and the right side of the main trolley body part, and the transfer trolley can move to enable the two auxiliary trolley body parts to be located on the left side and the right side of the support respectively. Locking holes are outwards formed in the left side and the right side of the support correspondingly, locking pins are inwards arranged on the auxiliary vehicle body correspondingly, and the locking pins can be inserted into the corresponding locking holes so that the transfer vehicle can lock the support. The loading and unloading efficiency is improved, the requirement and risk of manual operation are reduced, meanwhile, the stability of objects in the transportation process is ensured, and the loading and unloading device is suitable for various industrial and logistics scenes.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics handling equipment, and in particular to an AGV transport device. Background Art

[0002] In the field of modern industrial production and logistics, automated and intelligent material handling systems have become one of the key technologies to improve efficiency and reduce costs. As an automated material handling equipment, Automated Guided Vehicle (AGV) is widely used in production lines, warehouses and other scenarios due to its flexibility and high degree of automation. AGV can automatically navigate along a preset path to achieve automatic handling of goods, reduce manual intervention and improve work efficiency.

[0003] In traditional AGV applications, transport devices usually need to have a certain degree of versatility and adaptability to accommodate goods of different shapes and sizes. For large or special-shaped objects, such as large pieces of glass, traditional AGV transport devices often cannot meet their handling needs. In the process of loading large objects onto AGV transport devices, traditional locking mechanisms are complicated to operate, require multiple steps and require manual intervention, resulting in slow locking speeds and affecting overall transportation efficiency. In addition, for large, easily damaged objects such as large pieces of glass, how to maintain the stability of the objects during loading is also a major problem. Summary of the invention

[0004] The object of the present invention is to provide an AGV transport device to reduce operation complexity, reduce manual intervention, and improve loading efficiency and stability.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions: an AGV transport device, comprising a bracket for fixing goods and a transfer vehicle for driving the bracket to move, the transfer vehicle comprising a main body part and a sub-body part connected to the left and right sides of the main body part, the transfer vehicle can be moved so that the two sub-body parts are respectively located on the left and right sides of the bracket, the left and right sides of the bracket are respectively provided with locking holes facing outward, and the sub-body part is correspondingly provided with locking pins facing inward, and the locking pins can be inserted into the corresponding locking holes to achieve locking of the bracket by the transfer vehicle.

[0006] Preferably, the transfer vehicle is provided with a visual recognition system for detecting whether the locking pin is aligned with the locking hole, and the visual recognition system includes a camera installed on the main body of the vehicle and a controller arranged in the transfer vehicle.

[0007] More preferably, a first cylinder is disposed in the auxiliary vehicle body portion, one end of a piston rod of the first cylinder is connected to a push plate, and the locking pin is mounted on the push plate.

[0008] More preferably, support rollers are provided at the bottom of the bracket. A locking member is provided on each of the left and right sides of the bracket. The locking member includes a support plate fixed to the bracket and a sliding seat slidably connected to the support plate. The locking hole is provided on the sliding seat. A fixing plate is installed on the support plate. A spring is abutted between the fixing plate and the sliding seat. The support plate is connected with a support plate for contacting the ground. The top end of the support plate is hinged to the support plate through a connecting rod. The sliding seat is connected with the connecting rod. The support plate falls on the ground under its own gravity to keep the bracket stable. When the locking pin is inserted into the locking hole, the sliding seat can be pushed to move, so that the sliding seat pushes the connecting rod to swing, and then the support plate is turned over and lifted to leave the ground. At this time, the spring is compressed.

[0009] More preferably, the number of locking holes in each locking member is two, and two locking pins are correspondingly provided on the push plate.

[0010] More preferably, a protection beam is horizontally installed at the rear end of the bracket. The main body part of the vehicle is located at the rear side of the bracket, and a lifting plate is also provided on the main body part of the vehicle. A clamping groove is provided at the top end of the lifting plate. When the lifting plate rises, the clamping groove can lift the protection beam to prevent the bracket from tipping forward and backward.

[0011] More preferably, a guide rail for the lifting plate to cooperate with and a second air cylinder for pushing the lifting plate to move up and down are vertically provided on the main body part of the vehicle.

[0012] More preferably, the main body part of the vehicle and the auxiliary body parts on the left and right sides form a transfer vehicle with a "U" - shaped structure, and a plurality of omnidirectional wheels are provided at the bottom of the transfer vehicle.

[0013] More preferably, an obstacle avoidance radar is installed on the outer edge of the front and rear ends of each auxiliary body part respectively. An alarm and a control panel are also installed on the auxiliary body part; a battery pack is provided on the main body part of the vehicle.

[0014] More preferably, the camera is installed above the middle of the main body part of the vehicle through a support rod frame.

[0015] Compared with the prior art, by simplifying the locking mechanism, the present invention reduces manual intervention and operation steps, making the docking and locking process between the transfer vehicle and the bracket faster, and significantly improving the loading efficiency. In addition, the precise cooperation between the locking pin and the locking hole ensures a firm connection between the transfer vehicle and the bracket, especially when transporting heavy or large objects, enhancing the safety and stability during the transportation process. Description of the Drawings

[0016] Figure 1 It is a schematic diagram of the overall structure in the embodiment; Figure 2 It is a schematic diagram of a partial structure in the embodiment; Figure 3 is a schematic structural diagram of a locking member in an embodiment; Figure 4 Schematic diagram of the bottom structure of the locking member in the embodiment.

[0017] In the figure: 1——Bracket 2——Main body 3——Auxiliary body 4——Locking hole 5——Locking pin 6——Camera 7——First cylinder 8——Push plate 9——Support plate 10——slide 11——fixed plate 12——spring 13——Pallet 14——Connecting rod 15——Protective beam 16——Lifting plate 17——Card slot 18——Second cylinder 19——Siren 20——Control Panel 21——Battery Pack 22--Pole support. DETAILED DESCRIPTION

[0018] In order to facilitate the understanding of those skilled in the art, the present invention is further described below in conjunction with embodiments and drawings. The contents mentioned in the implementation modes are not intended to limit the present invention.

[0019] It should be noted in advance that, in the present invention, unless otherwise clearly specified and limited, the terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, in the present invention, unless otherwise clearly specified and limited, the first feature "on" or "under" the second feature may include the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact through another feature between them.

[0020] like Figures 1 to 3 As shown, an AGV transport device includes a bracket 1 for fixing goods and a transfer vehicle for driving the bracket 1 to move. The transfer vehicle includes a main body part 2 and a sub-body part 3 connected to the left and right sides of the main body part 2. The transfer vehicle can be moved so that the two sub-body parts 3 are respectively located on the left and right sides of the bracket 1. The left and right sides of the bracket 1 are respectively provided with locking holes 4 facing outwards, and the sub-body part 3 is correspondingly provided with locking pins 5 facing inwards. The locking pins 5 can be inserted into the corresponding locking holes 4 to achieve locking of the bracket 1 by the transfer vehicle.

[0021] In the above structure, the transfer vehicle is provided with a visual recognition system for detecting whether the locking pin 5 is aligned with the locking hole 4, and the visual recognition system includes a camera 6 installed on the main body part 2 and a controller arranged in the transfer vehicle. The camera 6 is installed above the middle part of the main body part 2 through a support rod frame 22. Through the visual recognition system, the automatic alignment detection of the locking pin and the locking hole can be realized, the docking accuracy and speed can be improved, the manual intervention can be reduced, the operation complexity can be reduced, and the overall automation level can be improved.

[0022] A first cylinder 7 is provided in the auxiliary vehicle body 3, one end of the piston rod of the first cylinder 7 is connected to a push plate 8, and the locking pin 5 is mounted on the push plate 8. The first cylinder 7 drives the push plate 8 and the locking pin 5 to achieve rapid extension and retraction of the locking pin 5, thereby improving the response speed and reliability of the action of the locking pin 5 and enhancing the stability and safety of the locking mechanism.

[0023] The visual recognition system in this embodiment adopts the Tuyang FM851-E2 visual device. During the loading process, the working principle of realizing the automatic alignment detection of the locking pin and the locking hole is roughly as follows: the camera 6 is installed above the middle part of the main body part 2 through the support rod frame 22, and the locking hole 4 is directly installed on the bracket 1 without obstruction, and the segment head of the locking pin 5 also extends from the inner side of the auxiliary body part 3. The camera 6 can clearly capture the position information of the locking hole 4 on the bracket 1 and the locking pin 5 on the auxiliary body part 3. The controller receives the image data transmitted by the camera 6, analyzes the image using the image processing algorithm, identifies the precise position of the locking hole 4 and the locking pin 5, and calculates the relative position and alignment state between them. When the controller detects that the locking pin 5 is not aligned with the locking hole 4, it will send a control signal to the transfer vehicle to adjust the position of the entire body so that the locking pin 5 moves to the correct alignment position. At the same time, the controller will also monitor the entire alignment process to ensure that the locking pin 5 can be accurately inserted into the locking hole 4. This process is automated, reducing manual intervention, improving docking accuracy and speed, while also reducing the risk of docking errors or equipment damage caused by improper human operation. In addition, the visual recognition system is also able to recognize and adapt to different lighting conditions and environmental changes, improving the robustness of the system. Through this high-precision visual recognition and automatic alignment technology, the AGV transport device of this embodiment can achieve fast and accurate loading, improving overall transportation efficiency and safety.

[0024] It should be noted that the Tuyang FM851-E2 vision device is an existing device, so it is not difficult for technical personnel in this field to analyze images using image processing algorithms. This is because the Tuyang FM851-E2 vision device is a mature product on the market with detailed technical documentation and development guides, as well as rich online resources and community support. Modern vision devices generally follow standardized interfaces and communication protocols, such as GigE Vision or USB3 Vision, which enables them to be easily integrated into existing control systems and communicate efficiently with controllers. The Tuyang FM851-E2 vision device is usually equipped with intuitive operation and configuration software, allowing technicians to easily set parameters, adjust image processing algorithms, and conduct real-time monitoring through a graphical user interface (GUI).

[0025] The bottom of the bracket 1 in this embodiment is provided with a supporting roller, and a locking component is respectively provided on the left and right sides of the bracket 1, and the locking component includes a supporting plate 9 fixed on the bracket 1 and a slide seat 10 slidably connected to the supporting plate 9, and the locking hole 4 is arranged on the slide seat 10, and a fixing plate 11 is installed on the supporting plate 9, and a spring 12 is abutted between the fixing plate 11 and the slide seat 10, and the support plate 9 is connected with a support plate 13 for contacting the ground, and the top end of the support plate 13 is hinged to the support plate 9 through a connecting rod 14, and the slide seat 10 is connected to the connecting rod 14. The support plate 13 falls on the ground under the action of its own gravity to keep the bracket 1 stable, and when the locking pin 5 is inserted into the locking hole 4, the slide seat 10 can be pushed to move, so that the slide seat 10 pushes the connecting rod 14 to swing, and then the support plate 13 is flipped and lifted to leave the ground, and the spring 12 is compressed at this time. After the pallet 13 is separated from the ground, the transfer vehicle can easily drive the bracket 1 to move for transfer. When the transfer vehicle is unloading, the locking pin 5 withdraws from the locking hole 4, and the spring 12 will push the slide 10 to reset through the elastic force, so that the connecting rod 14 no longer receives the thrust. At this time, the pallet 13 falls to the ground again under the action of its own gravity to keep the bracket 1 stable, providing better loading and unloading stability for large goods.

[0026] Through the analysis of this process, it can be seen that the pallet 13 falls on the ground under its own gravity, providing an additional support point for the bracket 1, increasing the contact area between the bracket and the ground, and thus improving the stability of the bracket. This design is particularly suitable for carrying heavy objects, and can reduce the risk of overturning due to uneven ground or uneven load. The action of the locking pin 5 inserted into the locking hole 4 triggers the movement of the slide 10, which in turn pushes the connecting rod 14 to swing, so that the pallet 13 is flipped and lifted off the ground. This chain reaction simplifies the operation process, reduces manual intervention, and makes the entire loading process more automated and smooth. Moreover, when the locking pin 5 is inserted into the locking hole 4 and pushes the slide 10 to move, the flipping and lifting action of the pallet 13 is a clear signal that the bracket 1 has been locked in place, which provides a visual and physical feedback to the operator, further improving the safety of the loading process. Of course, more importantly, the automatic flipping and lifting mechanism of the pallet 13 reduces the need for manual operation, making the entire loading process faster and more efficient, especially in a logistics environment where a large amount of goods needs to be loaded and unloaded quickly, this automated design significantly improves work efficiency. Of course, in actual application, a layer of elastic buffer pad with a certain thickness can also be provided on the bottom surface of the support plate 13, which can reduce the damage of the support plate 13 on the one hand, and increase the friction with the ground on the other hand, thereby increasing stability. Moreover, the elastic buffer pad with a certain thickness can be deformed, so that when the support plate 13 is pushed and flipped upward, it will not be restricted by the ground due to its close contact with the ground, but will squeeze the elastic buffer pad and flip smoothly to leave the ground.

[0027] In this embodiment, there are two locking holes 4 in each locking member, and two locking pins 5 are correspondingly provided on the push plate 8. When a total of four locking pins 5 are inserted into the corresponding four locking holes 4, the stability is greatly improved.

[0028] Furthermore, a protective beam 15 is horizontally installed at the rear end of the bracket 1, the main body part 2 is located at the rear side of the bracket 1 and the main body part 2 is also provided with a lifting plate 16, and a slot 17 is provided at the top of the lifting plate 16. When the lifting plate 16 rises, the slot 17 can lift the protective beam 15 to prevent the bracket 1 from tipping forward and backward, thereby avoiding tipping caused by uneven distribution of cargo weight and improving the safety of the transportation process. On this basis, the main body part 2 is vertically provided with a guide rail for the lifting plate 16 to cooperate with and a second cylinder 18 for pushing the lifting plate 16 up and down.

[0029] The main body part 2 and the sub-body parts 3 on the left and right sides form a transfer vehicle with a "U" - shaped structure. Multiple omnidirectional wheels are provided at the bottom of the transfer vehicle. The "U" - shaped structure provides a stable support platform, and the design of the omnidirectional wheels enables the transfer vehicle to move flexibly in different directions, improving the mobility and adaptability of the transfer vehicle. At the same time, anti - collision safety bumpers are installed at the lower part of the whole body area of the main body part 2 and the sub - body parts 3 on the left and right sides.

[0030] In addition, an obstacle - avoidance radar is installed at the outer edges of the front and rear ends of the sub - body part 3 respectively. An alarm 19 and a control panel 20 are also installed on the sub - body part 3; a battery pack 21 is provided on the main body part 2. The obstacle - avoidance radar improves the safety of the transfer vehicle in a complex environment. The alarm 19 and the control panel 20 enhance the convenience and intuitiveness of operation. The battery pack 21 provides a stable power supply for the transfer vehicle, ensuring the long - term stable operation of the transfer vehicle.

[0031] When the AGV transportation device provided by the above - mentioned embodiment is used to transfer large - sized glass, the top of the bracket 1 can be set as Figure 1The tilted support frame shown is used to fix the glass, and then the bracket 1 is placed in the predetermined loading area to ensure that its position and direction meet the loading requirements. The visual recognition system is started, and the camera 6 starts working to capture the position information of the locking hole 4 on the bracket 1. The controller analyzes the image data, determines the exact position of the locking hole 4, and calculates the path that the transfer vehicle needs to move. First, the transfer vehicle moves to the rear of the bracket 1, adjusts the position through the omnidirectional wheels, and then translates the entire body forward so that the two auxiliary body parts 3 are moved to the left and right sides of the bracket 1 respectively, ready for docking. When the locking pin 5 approaches the locking hole 4, the visual recognition system monitors and adjusts the position of the locking pin 5 in real time to ensure precise alignment. When the locking pin 5 is aligned with the locking hole 4, the first cylinder 7 drives the push plate 8 to extend the locking pin 5 and accurately insert it into the corresponding locking hole 4, thereby locking the transfer vehicle and the bracket 1. When the locking pin 5 is inserted into the locking hole 4, the push plate 8 in the auxiliary body part 3 pushes the slide 10 to move, and the slide 10 further pushes the connecting rod 14 to swing. The support plate 13 is flipped and lifted off the ground under the action of the connecting rod 14. At this time, the spring 12 is compressed, and the stability of the bracket 1 after being locked by the transfer vehicle is enhanced. Then the lifting plate 16 rises, and the card slot 17 lifts the protective beam 15 to prevent the bracket 1 from tipping forward and backward during transportation. After confirming that the large glass piece has been firmly locked on the bracket 1, the AGV transport device starts and starts to transport the large glass piece. During the transportation process, due to the action of the obstacle avoidance radar, when an obstacle is detected in the direction of travel, the AGV transport device will automatically slow down and stop. When the obstacle is removed, the AGV can automatically resume walking. After arriving at the unloading area, the first cylinder 7 works in the reverse direction, the push plate 8 is retracted, the locking pin 5 withdraws from the locking hole 4, and the support plate 13 falls back to the ground under the elastic force of the spring 12. The bracket 1 returns to its initial state, and the transportation of the large glass piece is completed.

[0032] The present invention realizes the rapid, stable and automatic loading and transportation of large objects such as large glass pieces through an innovative AGV transport device. The device uses a visual recognition system to automatically align the locking pin and the locking hole, uses a pneumatic system to achieve rapid insertion and withdrawal of the locking pin, and enhances stability and safety through a unique bracket design, which significantly improves loading and unloading efficiency, reduces the need and risk of manual operation, and ensures the stability of objects during transportation. It is suitable for a variety of industrial and logistics scenarios.

[0033] In order to make it easier for ordinary technicians in the field to understand the improvements of the present invention over the prior art, some drawings and descriptions of the present invention have been simplified, and the above-mentioned embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the protection scope of the present invention.

Claims

1. An AGV transport device, characterized in that: It includes a bracket (1) for fixing goods and a transporter for driving the bracket (1) to move. The transporter includes a main body part (2) and auxiliary body parts (3) connected to the left and right sides of the main body part (2). The transporter can move to a position where the two auxiliary body parts (3) are respectively located on the left and right sides of the bracket (1). Locking holes (4) are respectively arranged outward on the left and right sides of the bracket (1), and locking pins (5) are correspondingly arranged inward on the auxiliary body parts (3). The locking pins (5) can be inserted into the corresponding locking holes (4) to realize the locking of the transporter to the bracket (1).

2. The AGV transport device according to claim 1, characterized in that: A visual recognition system for detecting whether the locking pins (5) are aligned with the locking holes (4) is arranged on the transporter. The visual recognition system includes a camera (6) installed on the main body part (2) and a controller arranged inside the transporter.

3. The AGV transport device according to claim 1, characterized in that: A first cylinder (7) is arranged inside the auxiliary body part (3). One end of the piston rod of the first cylinder (7) is connected with a push plate (8), and the locking pin (5) is installed on the push plate (8).

4. The AGV transport device according to claim 3, characterized in that: Support rollers are arranged at the bottom of the bracket (1). Locking members are respectively arranged on the left and right sides of the bracket (1). Each locking member includes a support plate (9) fixed on the bracket (1) and a sliding seat (10) slidably connected to the support plate (9). The locking hole (4) is arranged on the sliding seat (10). A fixing plate (11) is installed on the support plate (9). A spring (12) is abutted between the fixing plate (11) and the sliding seat (10). The support plate (9) is connected with a support plate (13) for contacting the ground. The top end of the support plate (13) is hinged to the support plate (9) through a connecting rod (14). The sliding seat (10) is connected with the connecting rod (14). The support plate (13) falls on the ground under its own gravity to keep the bracket (1) stable. When the locking pin (5) is inserted into the locking hole (4), the sliding seat (10) can be pushed to move, so that the sliding seat (10) pushes the connecting rod (14) to swing, and then the support plate (13) is flipped up to leave the ground. At this time, the spring (12) is compressed.

5. The AGV transport device according to claim 4, characterized in that: The number of locking holes (4) in each locking member is two, and two locking pins (5) are correspondingly arranged on the push plate (8).

6. The AGV transport device according to claim 1, characterized in that: A protective beam (15) is horizontally installed at the rear end of the bracket (1). The main body part (2) is located at the rear side of the bracket (1), and the main body part (2) is also provided with a lifting plate (16). A clamping groove (17) is arranged at the top end of the lifting plate (16). When the lifting plate (16) rises, the clamping groove (17) can lift the protective beam (15) to prevent the bracket (1) from tipping forward and backward.

7. The AGV transport device according to claim 6, characterized in that: A guide rail for the lifting plate (16) to cooperate with and a second cylinder (18) for pushing the lifting plate (16) to move up and down are vertically arranged on the main body part (2).

8. The AGV transport device according to claim 1, characterized in that: The main body part (2) and the auxiliary body parts (3) on the left and right sides form a transporter with a "U" - shaped structure. A plurality of omnidirectional wheels are arranged at the bottom of the transporter.

9. The AGV transport device according to claim 1, characterized in that: An obstacle avoidance radar is respectively installed at the outer edges of the front and rear ends of the auxiliary body part (3); the auxiliary body part (3) is also installed with an alarm (19) and a control panel (20); and a battery pack (21) is arranged on the main body part (2).

10. The AGV transport device according to claim 2, characterized in that: The camera (6) is installed above the middle of the main body part (2) via a support rod frame (22).

Images