An AGV transport device

Abstract

The application discloses an AGV conveying device and belongs to the technical field of logistics conveying equipment. The AGV conveying device comprises a support for fixing goods and a transfer trolley for driving the support to move. The transfer trolley comprises a main trolley body and auxiliary trolley bodies connected to the left and right sides of the main trolley body. The transfer trolley can be moved to make the two auxiliary trolley bodies be located at the left and right sides of the support respectively. The left and right sides of the support are provided with locking holes outward respectively. The auxiliary trolley bodies are provided with locking pins inward correspondingly. The locking pins can be inserted into the corresponding locking holes to realize the locking of the transfer trolley on the support. The application improves the loading and unloading efficiency, reduces the demand and risk of manual operation, and ensures the stability of the goods in the transportation process. The application is suitable for various industrial and logistics scenes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics handling equipment, and particularly discloses an AGV transportation device. BACKGROUND

[0002] In the field of modern industrial production and logistics, an automated and intelligent material handling system has become one of the key technologies for improving efficiency and reducing cost. As an automated material handling equipment, an automated guided vehicle (AGV) is widely used in production lines, warehouses and other scenarios due to its flexibility and high degree of automation. The AGV can automatically navigate according to a preset path to realize automatic handling of goods, reduce manual intervention, and improve work efficiency.

[0003] In traditional AGV applications, the transportation device usually needs to have certain versatility and adaptability to adapt to goods of different shapes and sizes. For large or special-shaped objects such as large pieces of glass, the traditional AGV transportation device often fails to meet the handling requirements. In the process of loading large objects onto the AGV transportation device, the traditional locking mechanism is complex to operate, requires multiple steps and manual intervention, resulting in slow locking speed and affecting the overall transportation efficiency. In addition, for large objects such as large pieces of glass which are easily damaged, how to maintain the stability of the object during the loading process is also a big problem. SUMMARY

[0004] The present application aims to provide an AGV transportation device to reduce the operation complexity, reduce manual intervention, and improve the loading efficiency and stability.

[0005] To solve the above technical problems, the present application adopts the following technical scheme: an AGV transportation device, comprising a support for fixing goods and a transfer trolley for moving the support, the transfer trolley comprising a main trolley body and a sub-trolley body connected to the left and right sides of the main trolley body, the transfer trolley being movable to a position where the two sub-trolley bodies are respectively located on the left and right sides of the support, the left and right sides of the support being respectively provided with a locking hole outward, and the sub-trolley body being provided with a locking pin inward corresponding to the locking hole, the locking pin being capable of being inserted into the corresponding locking hole to realize the locking of the transfer trolley to the support.

[0006] Preferably, a visual recognition system for detecting whether the locking pin and the locking hole are aligned is arranged on the transfer trolley, the visual recognition system comprising a camera mounted on the main trolley body and a controller arranged in the transfer trolley.

[0007] More preferably, a first air cylinder is arranged in the sub-trolley body, one end of a piston rod of the first air cylinder being connected with a push plate, and the locking pin being mounted on the push plate.

[0008] More preferably, the bottom of the support is provided with a supporting roller, the left and right sides of the support are respectively provided with a locking member, the locking member comprises a supporting plate fixed on the support and a sliding seat slidingly connected to the supporting plate, the locking hole is arranged on the sliding seat, a fixing plate is mounted on the supporting plate, the spring is in abutment between the fixing plate and the sliding seat, the supporting plate is connected with a supporting plate for contacting the ground, the top end of the supporting plate is hingedly connected to the supporting plate through a connecting rod, the sliding seat is connected with the connecting rod, the supporting plate falls on the ground under the action of its own gravity to keep the support 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 supporting plate is turned up to lift 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 the push plate is correspondingly provided with two locking pins.

[0010] More preferably, the rear end of the support is horizontally provided with a protection beam, the main vehicle body part is located at the rear side of the support, and the main vehicle body part is further provided with a lifting plate, the top end of the lifting plate is provided with a clamping groove, and the lifting plate can lift the protection beam in the clamping groove to prevent the support from tilting forward and backward.

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

[0012] More preferably, the main vehicle body part and the left and right side auxiliary vehicle body parts form a "N" shaped structure of the transfer trolley, and the bottom of the transfer trolley is provided with a plurality of omnidirectional wheels.

[0013] More preferably, the outer side edges of the front and rear ends of the auxiliary vehicle body part are respectively provided with an obstacle avoidance radar, and the auxiliary vehicle body part is further provided with an alarm and a control panel; and the main vehicle body part is provided with a battery pack.

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

[0015] Compared with the prior art, the locking mechanism is simplified, the manual intervention and operation steps are reduced, the docking and locking process of the transfer trolley and the support is more rapid, and the loading efficiency is significantly improved. In addition, the precise cooperation of the locking pin and the locking hole ensures the firm connection between the transfer trolley and the support, especially when transporting heavy or large objects, the safety and stability during transportation are enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a schematic view of the overall structure in the embodiment;

[0017] Figure 2Fig. 2 is a schematic view of a part of the structure of the embodiment;

[0018] Figure 3 Fig. 3 is a schematic view of the structure of the locking member of the embodiment;

[0019] Figure 4 Fig. 4 is a schematic view of the bottom surface structure of the locking member of the embodiment.

[0020] Fig. 1 is a schematic view of the structure of the embodiment;

[0021] 1 - bracket 2 - main body part 3 - sub body part

[0022] 4 - locking hole 5 - locking pin 6 - camera

[0023] 7 - first cylinder 8 - push plate 9 - support plate

[0024] 10 - sliding seat 11 - fixed plate 12 - spring

[0025] 13 - supporting plate 14 - connecting rod 15 - protection beam

[0026] 16 - lifting plate 17 - clamping groove 18 - second cylinder

[0027] 19 - alarm 20 - control panel 21 - battery pack

[0028] 22 - support rod holder. DETAILED DESCRIPTION

[0029] For the convenience of those skilled in the art, the present application will be further described below in conjunction with the embodiments and the accompanying drawings. The content mentioned in the embodiments is not a limitation of the present application.

[0030] It should be noted that in the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In addition, in the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include the first and second features directly contacting, or the first and second features not directly contacting but contacting through another feature between them.

[0031] As Figures 1 to 3As shown, an AGV transport device includes a support 1 for fixing goods and a transfer trolley for moving the support 1, the transfer trolley including 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 trolley being movable to make the two sub-body parts 3 respectively located at the left and right sides of the support 1, the left and right sides of the support 1 respectively outwardly provided with locking holes 4, and the sub-body parts 3 correspondingly inwardly provided with locking pins 5, the locking pins 5 being capable of being inserted into the corresponding locking holes 4 to realize the locking of the transfer trolley to the support 1.

[0032] In the above structure, the transfer trolley is provided with a visual recognition system for detecting whether the locking pins 5 and the locking holes 4 are aligned, the visual recognition system including a camera 6 installed on the main body part 2 and a controller arranged in the transfer trolley. The camera 6 is installed on the upper middle part of the main body part 2 through a support rod frame 22. Through the visual recognition system, automatic alignment detection of the locking pins and the locking holes can be realized, the docking accuracy and speed are improved, manual intervention is reduced, the operation complexity is reduced, and the overall automation level is improved.

[0033] The sub-body part 3 is provided with a first air cylinder 7, one end of the piston rod of the first air cylinder 7 being connected with a push plate 8, and the locking pin 5 being installed on the push plate 8. The first air cylinder 7 is used to drive the push plate 8 and the locking pin 5, to realize the quick extension and retraction of the locking pin 5, to improve the response speed and reliability of the action of the locking pin 5, and to enhance the stability and safety of the locking mechanism.

[0034] The visual recognition system in this embodiment uses a Yolo FM851-E2 vision device. During the loading process, the working principle of automatic alignment detection of the locking pin and the locking hole is as follows: the camera 6 is installed on the upper middle part of the main body part 2 through the support rod bracket 22, while the locking hole 4 is directly installed on the support 1 without any obstruction, and the segment head of the locking pin 5 also protrudes 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 support 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 image processing algorithms, identifies the precise positions of the locking hole 4 and the locking pin 5, and calculates their relative positions and alignment status. When the controller detects that the locking pin 5 is not aligned with the locking hole 4, it sends a control signal to the transfer vehicle to adjust the position of the entire vehicle body, so that the locking pin 5 moves to the correct alignment position. At the same time, the controller also monitors 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 the accuracy and speed of docking, and reducing the risk of docking errors or equipment damage caused by improper human operation. In addition, the visual recognition system can also identify 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 the overall transportation efficiency and safety.

[0035] It should be noted that the Yolo FM851-E2 vision device is an existing device, so there is no difficulty in using image processing algorithms to analyze images for those skilled in the art, as the Yolo FM851-E2 vision device is a mature product on the market, with detailed technical documents and development guidelines, as well as rich online resources and community support. In addition, modern vision devices usually follow standardized interfaces and communication protocols, such as GigE Vision or USB3 Vision, which makes them easy to integrate into existing control systems and communicate efficiently with the controller. The Yolo FM851-E2 vision device is usually equipped with intuitive operation and configuration software, allowing technicians to easily set parameters, adjust image processing algorithms, and perform real-time monitoring through a graphical user interface (GUI).

[0036] The bottom of the support 1 in this embodiment is provided with a supporting roller, and the left and right sides of the support 1 are respectively provided with a locking member, which includes a support plate 9 fixed on the support 1 and a sliding seat 10 slidingly connected to the support plate 9, and a locking hole 4 is arranged on the sliding seat 10. A fixed plate 11 is installed on the support plate 9, and a spring 12 abuts between the fixed plate 11 and the sliding seat 10. The support plate 9 is connected with a supporting plate 13 for contacting the ground, and the top end of the supporting 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, and the supporting plate 13 falls on the ground under the action of its own gravity to keep the support 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 supporting plate 13 is turned up to leave the ground, and the spring 12 is compressed at this time. After the supporting plate 13 is separated from the ground, the transfer trolley can easily drive the support 1 to transfer and move. When the transfer trolley unloads, the locking pin 5 is withdrawn from the locking hole 4, and the spring 12 will push the sliding seat 10 to reset through the elastic force, so that the connecting rod 14 no longer receives the thrust, and at this time the supporting plate 13 falls on the ground again under the action of its own gravity to keep the support 1 stable, thereby providing good loading and unloading stability for large goods.

[0037] Through the analysis of the process, it can be seen that the supporting plate 13 falls on the ground under the action of its own gravity, providing an additional support point for the support 1, increasing the contact area between the support and the ground, and thus improving the stability of the support. This design is particularly suitable for carrying heavy objects, which can reduce the risk of overturning caused by uneven ground or uneven load. The action of inserting the locking pin 5 into the locking hole 4 triggers the movement of the sliding seat 10, which in turn pushes the connecting rod 14 to swing, causing the supporting plate 13 to turn up and leave 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 sliding seat 10 to move, the turning up action of the supporting plate 13 is a clear signal that the support 1 has been locked in place, providing visual and physical feedback for the operator, further improving the safety of the loading process. Of course, more importantly, the automatic turning up mechanism of the supporting plate 13 reduces the need for manual operation, making the entire loading process more rapid and efficient, especially in the logistics environment where large quantities of goods need to be quickly loaded and unloaded. This automated design significantly improves work efficiency. Of course, in actual application, the bottom surface of the supporting plate 13 can also be provided with a layer of elastic buffer pad with a certain thickness, which can not only reduce the damage to the supporting plate 13, but also increase the friction force when contacting the ground, thereby increasing the stability. Furthermore, the elastic buffer pad with a certain thickness can deform, which makes the supporting plate 13 not be limited by the ground when it is pushed up and turned over, but instead it will squeeze the elastic buffer pad and smoothly turn over to leave the ground.

[0038] In each locking member in this embodiment, the number of locking holes 4 is two, and two locking pins 5 are correspondingly arranged 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.

[0039] Furthermore, a protective beam 15 is horizontally installed at the rear end of the bracket 1. The main body part 2 is located behind the bracket 1 and the main body part 2 is also provided with a lifting plate 16. A clamping groove 17 is provided 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, avoiding the tipping situation caused by uneven distribution of the cargo weight and improving the safety during transportation. On this basis, 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.

[0040] The main body part 2 and the auxiliary body parts 3 on the left and right sides form a transfer vehicle with a "U" - shaped structure. A plurality of 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 parts of the whole body areas of the main body part 2 and the auxiliary body parts 3 on the left and right sides.

[0041] In addition, an obstacle avoidance radar is installed at the outer edges of the front and rear ends of the auxiliary body part 3 respectively. An alarm 19 and a control panel 20 are also installed on the auxiliary body part 3; a battery pack 21 is arranged 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 energy supply for the transfer vehicle, ensuring the long - term stable operation of the transfer vehicle.

[0042] 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 provided as Figure 1The inclined support frame is shown for fixing the glass, and then the support 1 is placed in the predetermined loading area, ensuring 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 support 1. The controller analyzes the image data to determine the precise position of the locking hole 4 and calculates the path that the transfer trolley needs to move, first moving the transfer trolley to the back of the support 1, adjusting the position through the omni-directional wheels, and then translating the entire vehicle body forward, so that the two sub-vehicle body parts 3 are respectively moved to the left and right sides of the support 1, ready to be docked. 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 accurate alignment, and when the locking pin 5 is aligned with the locking hole 4, the first cylinder 7 drives the push plate 8 to make the locking pin 5 extend and accurately insert into the corresponding locking hole 4, realizing the locking of the transfer trolley and the support 1. At the same time that the locking pin 5 is inserted into the locking hole 4, the push plate 8 in the sub-vehicle body part 3 pushes the sliding seat 10 to move, and the sliding seat 10 in turn pushes the connecting rod 14 to swing, and the supporting plate 13 is turned over 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 support 1 after being locked by the transfer trolley is enhanced. Then the lifting plate 16 rises, the clamping groove 17 lifts the protective beam 15 to prevent the support 1 from tilting forward and backward during transportation. After confirming that the glass large piece is firmly locked on the support 1, the AGV transportation device is started and begins to transfer the glass large piece. During the transfer process, due to the action of the obstacle avoidance radar, when an obstacle is detected in the direction of travel, the AGV transportation device will automatically slow down and stop, and when the obstacle is removed, the AGV can automatically resume walking. After arriving at the unloading area, the first cylinder 7 works in reverse, the push plate 8 is retracted, the locking pin 5 is withdrawn from the locking hole 4, and the supporting plate 13 falls to the ground under the action of the spring 12, and the support 1 returns to the initial state, at this time the transfer work of the glass large piece is completed.

[0043] The present application realizes the rapid, stable and automatic loading and transportation of large objects such as glass large pieces through an innovative AGV transportation device. The device uses a visual recognition system to automatically align the locking pin and the locking hole, uses a pneumatic system to realize the rapid insertion and withdrawal of the locking pin, and through the unique design of the support enhances the stability and safety, significantly improves the loading and unloading efficiency, reduces the demand and risk of manual operation, and at the same time ensures the stability of the object during transportation, suitable for various industrial and logistics scenes.

[0044] In order for those skilled in the art to more conveniently understand the improvements of the present application over the prior art, some of the drawings and descriptions of the present application have been simplified, and the above embodiments are the preferred implementation of the present application, in addition to which the present application can be implemented in other ways, any obvious replacement within the scope of the present technical solution concept is within the protection scope of the present application.

Claims

1. An AGV transport device, characterized by: The utility model provides a transfer trolley and support for fixing goods, the transfer trolley includes main body (2) and the vice car body (3) of connecting in main body (2) left and right two sides, the transfer trolley can be moved to make two vice car body (3) respectively be located in the left and right sides of support (1), the left and right sides of support (1) are provided with locking hole (4) outward respectively, the vice car body (3) is provided with locking pin (5) inwards correspondingly, locking pin (5) can be inserted into corresponding locking hole (4) to realize the locking of transfer trolley to support (1), the first cylinder (7) is provided in vice car body (3), the one end of piston rod of first cylinder (7) is connected with push plate (8), locking pin (5) is installed on push plate (8), the bottom of support (1) is provided with support roller, the left and right sides of support (1) are provided with a locking member respectively, the locking member includes the support plate (9) of fixing on support (1) and the sliding seat (10) of sliding connection in support plate (9), locking hole (4) is provided on sliding seat (10), the fixed plate (11) is installed on support plate (9), and the spring (12) is abutted between fixed plate (11) and sliding seat (10), support plate (9) is connected with a supporting plate (13) for contacting ground, the top of supporting plate (13) is hinged to support plate (9) through connecting rod (14), sliding seat (10) is connected with connecting rod (14), supporting plate (13) falls on the ground under the gravity of itself to make support (1) keep stable, when locking pin (5) is inserted into locking hole (4), sliding seat (10) can be pushed to move, to make sliding seat (10) push connecting rod (14) swing, and then make supporting plate (13) overturn and lift to leave the ground, and at this time, spring (12) is compressed.

2. The AGV transport apparatus according to claim 1, characterized in that: The transfer trolley is provided with a visual identification system for detecting whether the locking pin (5) is aligned with the locking hole (4), and the visual identification system comprises a camera (6) installed on the main body (2) and a controller arranged in the transfer trolley.

3. The AGV transport apparatus according to claim 1, characterized by: 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).

4. The AGV transport apparatus of claim 1, wherein: A protective beam (15) is horizontally installed at the rear end of the support (1), the main body (2) is located at the rear side of the support (1), and the main body (2) is further provided with a lifting plate (16), the top end of the lifting plate (16) is provided with a clamping groove (17), and the lifting plate (16) can lift the protective beam (15) by the clamping groove (17) to prevent the support (1) from tilting forward and backward when the lifting plate (16) is lifted.

5. The AGV transport apparatus according to claim 4, characterized in that: The main body (2) is vertically provided with a guide rail for cooperation of the lifting plate (16) and a second cylinder (18) for pushing the lifting plate (16) to move up and down.

6. The AGV transport apparatus of claim 1, wherein: The main body (2) and the vice car bodies (3) on the left and right sides form a transfer trolley with a "n" shape structure, and the bottom of the transfer trolley is provided with a plurality of omni-directional wheels.

7. The AGV transport apparatus of claim 1, wherein: The outer side edges of the front and rear ends of the auxiliary vehicle body part (3) are respectively provided with an obstacle avoidance radar, and the auxiliary vehicle body part (3) is further provided with an alarm (19) and a control panel (20); and the main vehicle body part (2) is provided with a battery pack (21).

8. The AGV transport apparatus of claim 2, wherein: The camera (6) is installed on the upper middle part of the main vehicle body part (2) through a support rod frame (22).

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