Automatic transportation device based on AGV

Abstract

The invention discloses an automatic transportation device based on an AGV, and relates to the technical field of transportation devices. The AGV transportation device comprises an AGV transportation device body, a multi-axis mechanical arm module is arranged on the rear side of the top of the AGV transportation device body, a bearing device is arranged on the front side of the top of the AGV transportation device body and comprises a bearing frame, the bearing frame is fixed to the top of the AGV transportation device body, a through opening is formed in the front side of the bearing frame, and the bearing frame is fixed to the top of the AGV transportation device body. And a plurality of containing openings are formed in the two sides of the inner wall of the through opening of the bearing frame, a plurality of bearing frames are fixed in the bearing frame, and a double-shaft motor is fixed to the bottom of the bearing frame. According to the photovoltaic panel transportation device, through the arrangement of the bearing device, the photovoltaic panel is clamped and fixed to the bearing frame through the two rubber belts, so that the problems that the photovoltaic panel is displaced due to external impact in the transportation process and the photovoltaic panel is prone to slipping off are solved, and then the transportation stability of the photovoltaic panel is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of transportation devices, and in particular to an automated transportation device based on AGV. Background Art

[0002] In the construction of high-altitude photovoltaic projects, the installation and transportation of photovoltaic panels account for the majority of the workload. In order to prevent workers from being in danger due to altitude sickness and to protect the ecological environment, automated transportation devices are used to transport photovoltaic panels to reduce the labor consumption of workers in the plateau.

[0003] A Chinese patent with patent announcement number CN214651409U discloses a conveniently adjustable mechanical automated transport device, which relates to the field of mechanical automation technology, including a mounting plate, a base symmetrically fixedly mounted on the upper surface of the mounting plate, a traction hook movably mounted in the middle of the outer wall of one side of the mounting plate, and a support plate symmetrically fixedly mounted on the upper surface of the mounting plate. The conveniently adjustable mechanical automated transport device is provided with a support plate on the upper surface of the mounting plate, and after the motor is started, the motor drives the first gear to rotate, and the first gear is provided through meshing connection with the tooth plate to drive the movable block to move up and down along the support plate, thereby driving the receiving plate to lift and lower, and by placing the mechanical equipment on the upper surface of the first cotton pad and cooperating with the second cotton pad, the protective effect of the mechanical equipment can be effectively improved, and it is convenient to fix equipment of various sizes, and the convenience of adjusting the device is better enhanced.

[0004] However, the current automated transportation device has the following problems: the AGV automated transportation device is not convenient for providing a stable limit to the photovoltaic panels when transporting them, which causes the photovoltaic panels to be displaced due to external impacts during transportation, and the photovoltaic panels are prone to slipping, thereby reducing the stability of photovoltaic panel transportation. Therefore, we propose an automated transportation device based on AGV. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides an automated transportation device based on AGV, which solves the problems raised in the above background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: an automated transport device based on AGV, comprising an AGV transport device body, a multi-axis robotic arm module is arranged on the top rear side of the AGV transport device body, a carrying device is arranged on the top front side of the AGV transport device body, the carrying device comprises a carrying frame, the carrying frame is fixed to the top of the AGV transport device body, a through opening is opened on the front side of the carrying frame, and a plurality of accommodating openings are opened on both sides of the inner wall of the through opening of the carrying frame, a plurality of carrying racks are fixed inside the carrying frame, a dual-axis motor is fixed to the bottom of the carrying frame, screws are fixed to both side output ends of the dual-axis motor, and the outer sides of the two screws are threadedly connected A threaded block is connected, an L-shaped rod is fixed on the top of the threaded block, and the L-shaped rod is slidably installed on the bottom of the inner wall of the supporting frame, and an H-shaped frame is fixed on the top of the L-shaped rod, and rollers are rotatably installed above and below the inner wall of the H-shaped frame, and the external transmission of the two rollers is connected with rubber belts, and the photovoltaic panel is inserted into the supporting frame through the accommodating port, and the photovoltaic panel will fall on the top of the supporting frame, and then the dual-axis motor is started, and the dual-axis motor drives the screw to rotate, and the screw drives the threaded block to drive the L-shaped rod to move along the bottom of the inner wall of the supporting frame toward the center of the supporting frame, and the L-shaped rod drives the rubber belt through the H-shaped frame and the roller to approach the photovoltaic panel placed on the supporting frame, so that the two rubber belts clamp the photovoltaic panel and fix it on the supporting frame.

[0007] According to the above technical solution, the supporting device also includes a plurality of triangular blocks, which are evenly and equidistantly fixed on the front outer wall of the H-shaped frame, and the triangular blocks are located above the supporting frame. At the same time, when the photovoltaic panel is inserted into the supporting frame through the accommodating opening, the inclined surface of the triangular block will guide the photovoltaic panel inserted into the supporting frame to between the two rubber belts.

[0008] According to the above technical solution, the multi-axis robotic arm module is used to remove the photovoltaic panel from the carrier frame. The multi-axis robotic arm module includes a rotating table, a rotating column, a lateral moving component, a manipulator, and a pick-and-place suction cup component. The rotating table is fixed to the top of the AGV transport device body, the rotating column is fixed to the output end of the rotating table, the lateral moving component is fixed to the top of the rotating column, one end of the manipulator is rotatably installed on the outer wall of the moving end of the lateral moving component, and the pick-and-place suction cup component is fixed to the other end of the manipulator.

[0009] According to the above technical solution, a stabilizing device is provided inside the bearing frame, and the stabilizing device includes a water storage tank, the water storage tank is embedded in the bottom of the inner wall of the bearing frame, and the rear side of the water storage tank passes through the inner wall of the bearing frame, L-shaped tubes are fixed to the rear sides of both sides of the water storage tank, and a plurality of spraying tubes are evenly and equidistantly rotated and installed on the front sides of the two L-shaped tubes, the spraying tubes pass through the bearing frame, and each spraying tube is located above the bearing frame, a pressing piece is fixed to the front side of the water storage tank, and the front sides of both sides of the pressing piece are hinged with hinged rods, and the two One end of the hinged rod away from the pressing piece is hinged to the outer walls of the two L-shaped rods respectively, and a spring pump is provided between the pressing piece and the L-shaped tube. The pressing piece is used to control the spring pump to extract water from the water tank and transmit it to the spray pipe through the L-shaped tube for spraying. When the L-shaped rod moves along the bottom of the inner wall of the supporting frame toward the center of the supporting frame, the L-shaped rod pushes the hinged rod to squeeze the pressing piece, and the pressing piece controls the spring pump to extract water from the water tank and transmit it to the spray pipe through the L-shaped tube for spraying. The water sprayed from the spray pipe will fall on the surface of the glass layer of the photovoltaic panel.

[0010] According to the above technical solution, the stabilizing device also includes two vertical rods, a plurality of friction rods, and a plurality of friction wheels. The two vertical rods are respectively fixed on the rear sides of the two L-shaped rods, and a strip-shaped opening for sliding the two vertical rods is opened on the rear side of the supporting frame. A plurality of friction rods are evenly and equidistantly fixed on the side where the two vertical rods are close to each other, and a plurality of friction wheels are respectively fixed on the outer walls of the rear sides of a plurality of spray pipes. The outer side of the friction wheel is set as a rough surface, and the top of the friction rod is set as a rough surface. The rough surface of the friction wheel contacts the rough surface of the friction rod. At the same time, when the L-shaped rod moves, the vertical rod will be driven to move, and the vertical rod will drive the friction rod to move. Under the friction force between the friction rod and the friction wheel, the friction rod drives the friction wheel to rotate, and the friction wheel drives the spray pipe to rotate.

[0011] According to the above technical solution, a sealing device is provided on the front side of the carrying frame, and the sealing device includes two hydraulic cylinders and two rotating rods. The two hydraulic cylinders are respectively fixed on both sides of the carrying frame, and a U-shaped sliding rod is fixed on the front side of the telescopic ends of the two hydraulic cylinders. A connecting rod is fixed between the front bottoms of the two U-shaped sliding rods, and the two rotating rods are rotatably installed on both sides of the front side of the carrying frame through brackets. A plurality of elastic telescopic rods are evenly and equidistantly fixed on the side of the two rotating rods away from each other, and a resistance wheel is rotatably installed on the end of the elastic telescopic rod away from the rotating rod, and a rotating disk is fixed on the top of the two rotating rods, and the outer surface of the rotating disk is a rough surface. The top of the U-shaped slide bar is arranged with a rough surface on one side close to the bearing frame, and the rough surface of the turntable contacts with the rough surface of the U-shaped slide bar. After the photovoltaic panel falls on the top of the bearing frame, the hydraulic cylinder is started, and the telescopic end of the hydraulic cylinder pushes the U-shaped slide bar to move forward. The two U-shaped slide bars are connected by a connecting rod, thereby ensuring the consistency of the movement of the U-shaped slide bars on both sides. Under the action of the friction force between the U-shaped slide bar and the turntable, the U-shaped slide bar drives the turntable to rotate toward the center of the bearing frame, the turntable drives the rotating rod to rotate, and the rotating rod drives the elastic telescopic rod and the contact wheel to rotate, so that the elastic telescopic rod drives the contact wheel to press the photovoltaic panel against the inside of the bearing frame.

[0012] According to the above technical solution, the sealing device also includes two J-shaped baffles, which are respectively fixed on both sides of the front side of the supporting frame. When the elastic telescopic rod and the contact wheel are not in use, the elastic telescopic rod and the contact wheel are at the J-shaped baffles, and the J-shaped baffles will protect the elastic telescopic rod and the contact wheel.

[0013] The present invention provides an automated transportation device based on AGV. It has the following beneficial effects:

[0014] (1) The present invention arranges the bearing device so that the receiving port, the bearing frame, the bearing rack, the dual-axis motor, the screw, the threaded block, the L-shaped rod, the H-shaped rack, and the roller cooperate to drive the two rubber belts to clamp and fix the photovoltaic panel on the bearing rack, thereby avoiding the photovoltaic panel from being displaced by external impact during transportation, and the photovoltaic panel is prone to slipping, thereby improving the stability of photovoltaic panel transportation. At the same time, the clamping effect of the rubber belt can effectively reduce the damage to the photovoltaic panel caused by vibration or impact. At the same time, the rubber belt is rotatably installed on the outside of the two rollers, so the upward movement of the photovoltaic panel It will drive the rubber belt to move upward, thereby preventing the two sides of the photovoltaic panel from being subjected to the clamping force of the rubber belt, resulting in the outer frame and the glass layer of the photovoltaic panel being subjected to upward pulling forces when the suction cup assembly adsorbs the glass layer of the photovoltaic panel and moves upward, causing the photovoltaic panel to be easily damaged, affecting the function and service life of the photovoltaic panel; at the same time, the inclined surface of the triangular block will guide the photovoltaic panel inserted into the load-bearing frame between the two rubber belts, thereby preventing the photovoltaic panel from colliding with the edge of the H-shaped frame during the process of being inserted into the load-bearing frame, thereby reducing the risk of scratches or damage to the photovoltaic panel.

[0015] (2) The present invention sets a stabilizing device so that the L-shaped rod, the bearing frame, the hinged rod, and the pressing part cooperate with the control spring pump to draw water from the water tank and transmit it to the spray pipe through the L-shaped pipe for spraying. The water sprayed from the spray pipe will fall on the surface of the glass layer of the photovoltaic panel. The moisture can help improve the sealing performance of the suction cup of the suction cup assembly and increase the stability of adsorption, especially the contact area between the suction cup of the suction cup assembly and the glass layer of the photovoltaic panel. At the same time, the L-shaped rod, the vertical rod, the friction rod, and the friction wheel cooperate to drive the spray pipe to rotate, thereby ensuring that the water sprayed by the spray pipe evenly covers the surface of the photovoltaic panel, improving the contact effect between the suction cup of the suction cup assembly and the glass layer, thereby enhancing the adsorption performance and ensuring that the suction cup of the suction cup assembly firmly adsorbs the photovoltaic panel.

[0016] (3) The present invention arranges a sealing device so that the hydraulic cylinder, U-shaped sliding rod, connecting rod, turntable, rotating rod, and elastic telescopic rod cooperate to drive the resistance wheel to press the photovoltaic panel against the inside of the bearing frame, thereby avoiding the problem that the photovoltaic panel is easy to fall out of the receiving opening when the transportation device moves uphill. The design of the elastic telescopic rod helps to absorb certain vibrations and reduce the impact on the photovoltaic panel during transportation, thereby reducing potential damage; when the elastic telescopic rod and the resistance wheel are not in use, the elastic telescopic rod and the resistance wheel are in the J-shaped baffle, which will protect the elastic telescopic rod and the resistance wheel. The J-shaped baffle can effectively prevent the elastic telescopic rod and the resistance wheel from being damaged by external impact or collision with objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The present invention is schematically shown as a whole Figure 1 ;

[0018] Figure 2 The present invention is schematically shown as a whole Figure 2 ;

[0019] Figure 3 Schematic diagram of the carrying device of the present invention Figure 1 ;

[0020] Figure 4 Schematic diagram of the carrying device of the present invention Figure 2 ;

[0021] Figure 5 It is a schematic diagram of the partial structure of the carrying device of the present invention;

[0022] Figure 6 Schematic diagram of the stabilizing device of the present invention Figure 1 ;

[0023] Figure 7 Schematic diagram of the stabilizing device of the present invention Figure 2 ;

[0024] Figure 8 Schematic diagram of the sealing device of the present invention.

[0025] In the figure: 1. AGV transport device body; 2. load-bearing device; 21. load-bearing frame; 22. accommodating port; 23. load-bearing frame; 24. dual-axis motor; 25. screw; 26. threaded block; 27. L-shaped rod; 28. H-shaped frame; 29. ​​rubber belt; 210. roller; 211. triangular block; 3. stabilizing device; 31. water tank; 32. L-shaped pipe; 33. spray pipe; 34. pressing piece; 35. hinged rod; 36. vertical rod; 37. friction rod; 38. friction wheel; 4. sealing device; 41. hydraulic cylinder; 42. U-shaped sliding rod; 43. connecting rod; 44. turntable; 45. rotating rod; 46. elastic telescopic rod; 47. resistance wheel; 48. J-shaped baffle; 5. rotating table; 6. rotating column; 7. lateral moving assembly; 8. manipulator; 9. pick-and-place suction cup assembly. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0027] See also Figure 1 - Figure 8, one embodiment of the present invention is: an automated transportation device based on AGV, including an AGV transportation device body 1, a multi-axis robotic arm module is arranged on the top rear side of the AGV transportation device body 1, the multi-axis robotic arm module is used to take out the photovoltaic panel from the carrier frame 21, the multi-axis robotic arm module includes a rotating table 5, a rotating column 6, a lateral moving component 7, a robot 8, and a pick-and-place suction cup component 9, the rotating table 5 is fixed on the top of the AGV transportation device body 1, the rotating column 6 is fixed on the output end of the rotating table 5, the lateral moving component 7 is fixed on the top of the rotating column 6, one end of the robot 8 is rotatably installed on the outer wall of the moving end of the lateral moving component 7, and the pick-and-place suction cup component 9 The component 9 is fixed to the other end of the manipulator 8. A load-bearing device 2 is arranged on the front side of the top of the main body 1 of the AGV transport device. The load-bearing device 2 includes a load-bearing frame 21, which is fixed to the top of the main body 1 of the AGV transport device. A through opening is provided on the front side of the load-bearing frame 21, and a plurality of accommodating openings 22 are provided on both sides of the inner wall of the through opening of the load-bearing frame 21. A plurality of load-bearing frames 23 are fixed inside the load-bearing frame 21. A dual-axis motor 24 is fixed to the bottom of the load-bearing frame 21. Screws 25 are fixed to the output ends of both sides of the dual-axis motor 24. The outer sides of the two screws 25 are threadedly connected with threaded blocks 26. An L-shaped rod 27 is fixed to the top of the threaded block 26, and the L-shaped rod The L-shaped rod 27 is slidably mounted on the bottom of the inner wall of the carrying frame 21, an H-shaped frame 28 is fixed on the top of the L-shaped rod 27, and rollers 210 are rotatably mounted on the upper and lower inner walls of the H-shaped frame 28. The external transmission of the two rollers 210 is connected with a rubber belt 29. Through the arrangement of the above structure, the L-shaped rod 27 drives the rubber belt 29 to lean against the photovoltaic panel placed on the carrying frame 23 through the H-shaped frame 28 and the roller 210. The two rubber belts 29 clamp and fix the photovoltaic panel on the carrying frame 23, thereby avoiding the problem that the photovoltaic panel is easily displaced due to external impact during transportation, and the photovoltaic panel is prone to slipping, thereby improving the stability of photovoltaic panel transportation. At the same time, the clamping effect of the rubber belt 29 can effectively reduce the damage to the photovoltaic panel caused by vibration or impact. At the same time, in the process of taking and placing the suction cup assembly 9 to adsorb the photovoltaic panel, the photovoltaic panel has a certain upward tendency. Since the rubber belt 29 is rotatably installed on the outside of the two rollers 210, the upward movement of the photovoltaic panel will drive the rubber belt 29 to move upward, thereby avoiding the two sides of the photovoltaic panel from being subjected to the clamping force of the rubber belt 29. As a result, in the process of taking and placing the suction cup assembly 9 to adsorb the glass layer of the photovoltaic panel, the outer frame of the photovoltaic panel and the glass layer of the photovoltaic panel are subjected to upward pulling force, which makes the photovoltaic panel easy to be damaged, affecting the function and service life of the photovoltaic panel.

[0028] The supporting device 2 also includes a plurality of triangular blocks 211, which are evenly and equidistantly fixed on the front outer wall of the H-shaped frame 28, and the triangular blocks 211 are located above the supporting frame 23. Through the arrangement of the above structure, the inclined surface of the triangular block 211 will guide the photovoltaic panel inserted into the supporting frame 21 to between the two rubber belts 29, thereby avoiding the collision of the photovoltaic panel with the edge of the H-shaped frame 28 during the process of inserting the photovoltaic panel into the supporting frame 21, thereby reducing the risk of scratches or damage to the photovoltaic panel.

[0029] The interior of the supporting frame 21 is provided with a stabilizing device 3, which includes a water storage tank 31, which is embedded in the bottom of the inner wall of the supporting frame 21, and the rear side of the water storage tank 31 passes through the inner wall of the supporting frame 21, and L-shaped tubes 32 are fixed to the rear sides of both sides of the water storage tank 31, and a plurality of spraying tubes 33 are evenly and equidistantly installed on the front sides of the two L-shaped tubes 32, and the spraying tubes 33 pass through the supporting frame 21, and each spraying tube 33 is located above the supporting frame 23, and a pressing member 34 is fixed to the front side of the water storage tank 31, and the front sides of both sides of the pressing member 34 are hinged with hinged rods 35, and the ends of the two hinged rods 35 away from the pressing member 34 are respectively connected to the two The outer wall of the L-shaped rod 27 is hinged, and a spring pump is provided between the pressing piece 34 and the L-shaped tube 32. The pressing piece 34 is used to control the spring pump to extract water from the water tank 31 and transmit it to the spray pipe 33 through the L-shaped tube 32 for spraying. Through the arrangement of the above structure, the pressing piece 34 controls the spring pump to extract water from the water tank 31 and transmit it to the spray pipe 33 through the L-shaped tube 32 for spraying. The water sprayed from the spray pipe 33 will fall on the surface of the glass layer of the photovoltaic panel. The moisture can help improve the sealing performance of the suction cup of the suction cup assembly 9 and increase the stability of adsorption, especially in the contact area between the suction cup of the suction cup assembly 9 and the glass layer surface of the photovoltaic panel.

[0030] The stabilizing device 3 also includes two vertical rods 36, a plurality of friction rods 37, and a plurality of friction wheels 38. The two vertical rods 36 are respectively fixed on the rear sides of the two L-shaped rods 27, and a strip opening for the sliding of the two vertical rods 36 is opened on the rear side of the supporting frame 21. A plurality of friction rods 37 are evenly and equidistantly fixed on the side where the two vertical rods 36 are close to each other. A plurality of friction wheels 38 are respectively fixed on the outer wall of the rear sides of a plurality of spray pipes 33. The outer side of the friction wheel 38 is set as a rough surface, and the top of the friction rod 37 is set as a rough surface. The rough surface of the friction wheel 38 contacts the rough surface of the friction rod 37. Through the setting of the above structure, the friction wheel 38 drives the spray pipe 33 to rotate, thereby ensuring that the water sprayed by the spray pipe 33 is evenly covered on the surface of the photovoltaic panel, improving the contact effect between the suction cup of the suction cup assembly 9 and the glass layer, thereby enhancing the adsorption performance, and ensuring that the suction cup of the suction cup assembly 9 firmly adsorbs the photovoltaic panel.

[0031] When in use, when it is necessary to load and transport photovoltaic panels during the construction of a high-altitude photovoltaic project, the photovoltaic panels are inserted into the carrier frame 21 through the receiving opening 22, and the photovoltaic panels fall on the top of the carrier frame 23. Then the dual-axis motor 24 is started, and the dual-axis motor 24 drives the screw 25 to rotate. The screw 25 drives the threaded block 26 to drive the L-shaped rod 27 to move along the bottom of the inner wall of the carrier frame 21 toward the center of the carrier frame 21. The L-shaped rod 27 drives the rubber belt 29 through the H-shaped frame 28 and the roller 210 to approach the photovoltaic panel placed on the carrier frame 23, so that the two rubber belts 29 The photovoltaic panel is clamped and fixed on the carrier 23, so as to avoid the displacement of the photovoltaic panel due to external impact during transportation, and the problem that the photovoltaic panel is prone to slipping, thereby improving the stability of photovoltaic panel transportation. At the same time, the clamping effect of the rubber belt 29 can effectively reduce the damage of the photovoltaic panel caused by vibration or impact. When the photovoltaic panel needs to be taken out, the robot 8 controls the pick-up and placement suction cup assembly 9 to move to the top of the photovoltaic panel, starts the pick-up and placement suction cup assembly 9, and the pick-up and placement suction cup assembly 9 will adsorb the photovoltaic panel, and then starts the lateral moving assembly 7. The moving end of the lateral moving assembly 7 is mechanically The hand 8 drives the pick-up and place suction cup assembly 9 to move the photovoltaic panel out of the bearing frame 21, and then the photovoltaic panel can be installed. Here, the pick-up and place suction cup assembly 9 is adsorbed on the glass layer on the surface of the photovoltaic panel, and the clamping force of the rubber belt 29 acts on the frame of the photovoltaic panel. At the same time, in the process of the pick-up and place suction cup assembly 9 adsorbing the photovoltaic panel, the photovoltaic panel has a certain upward movement trend. Since the rubber belt 29 is rotatably installed on the outside of the two rollers 210, the upward movement of the photovoltaic panel will drive the rubber belt 29 to move upward, thereby avoiding the two sides of the photovoltaic panel from being subjected to the clamping force of the rubber belt 29, resulting in During the process of the suction cup assembly 9 adsorbing the glass layer of the photovoltaic panel and moving it upward, the outer frame of the photovoltaic panel and the glass layer of the photovoltaic panel are subjected to pulling forces from above and below, which makes the photovoltaic panel easily damaged, affecting the function and service life of the photovoltaic panel; at the same time, when the photovoltaic panel is inserted into the supporting frame 21 through the accommodating opening 22, the inclined surface of the triangular block 211 will guide the photovoltaic panel inserted into the supporting frame 21 to between the two rubber belts 29, thereby avoiding collision between the edge of the H-shaped frame 28 and the photovoltaic panel during the process of being inserted into the supporting frame 21, thereby reducing the risk of scratches or damage to the photovoltaic panel.

[0032] During the movement of the L-shaped rod 27 along the bottom of the inner wall of the supporting frame 21 toward the center of the supporting frame 21, the L-shaped rod 27 pushes the hinged rod 35 to squeeze the pressing member 34, and the pressing member 34 controls the spring pump to extract water from the water storage tank 31 and transmit it to the spray pipe 33 through the L-shaped tube 32 for spraying. The water sprayed from the spray pipe 33 will fall on the glass layer surface of the photovoltaic panel. The moisture can help improve the sealing performance of the suction cup of the suction cup assembly 9 and increase the stability of adsorption, especially when the suction cup of the suction cup assembly 9 and the glass layer surface of the photovoltaic panel are in contact with each other. At the same time, when the L-shaped rod 27 moves, the vertical rod 36 will be driven to move, and the vertical rod 36 will drive the friction rod 37 to move. Under the friction force between the friction rod 37 and the friction wheel 38, the friction rod 37 drives the friction wheel 38 to rotate, and the friction wheel 38 drives the spray pipe 33 to rotate, thereby ensuring that the water sprayed by the spray pipe 33 is evenly covered on the surface of the photovoltaic panel, improving the contact effect between the suction cup of the suction cup assembly 9 and the glass layer, thereby enhancing the adsorption performance, and ensuring that the suction cup of the suction cup assembly 9 firmly adsorbs the photovoltaic panel.

[0033] See also Figure 1 - Figure 8 On the basis of the above embodiment, in another embodiment of the present invention, a sealing device 4 is provided on the front side of the carrying frame 21 .

[0034] The sealing device 4 includes two hydraulic cylinders 41 and two rotating rods 45. The two hydraulic cylinders 41 are respectively fixed on both sides of the carrying frame 21. U-shaped sliding rods 42 are fixed to the front sides of the telescopic ends of the two hydraulic cylinders 41. A connecting rod 43 is fixed between the front bottoms of the two U-shaped sliding rods 42. The two rotating rods 45 are respectively rotatably mounted on both sides of the front side of the carrying frame 21 through brackets. A plurality of elastic telescopic rods 46 are evenly and equidistantly fixed on the side away from each other of the two rotating rods 45. A contact wheel 47 is rotatably mounted on the end of the elastic telescopic rod 46 away from the rotating rod 45. A contact wheel 47 is fixed on the top of the two rotating rods 45. The turntable 44 has a rough surface on the outside, and the top of the U-shaped slide bar 42 is close to the side of the supporting frame 21 and is rough. The rough surface of the turntable 44 contacts the rough surface of the U-shaped slide bar 42. Through the arrangement of the above structure, the elastic telescopic rod 46 drives the resistance wheel 47 to press the photovoltaic panel against the inside of the supporting frame 21, thereby avoiding the problem that the photovoltaic panel is easy to fall out of the receiving port 22 when the transport device moves uphill. The design of the elastic telescopic rod 46 helps to absorb certain vibrations and reduce the impact on the photovoltaic panel during transportation, thereby reducing potential damage.

[0035] The sealing device 4 also includes two J-shaped baffles 48, which are respectively fixed on both sides of the front side of the supporting frame 21. When the elastic telescopic rod 46 and the contact wheel 47 are not in use, the J-shaped baffles 48 can protect the elastic telescopic rod 46 and the contact wheel 47 through the setting of the above structure. The J-shaped baffles 48 can effectively prevent damage to the elastic telescopic rod 46 and the contact wheel 47 caused by external impact or object collision.

[0036] When in use, after the photovoltaic panel falls on the top of the carrier frame 23, the hydraulic cylinder 41 is started, and the telescopic end of the hydraulic cylinder 41 pushes the U-shaped slide bar 42 to move forward, and the two U-shaped slide bars 42 are connected by a connecting rod 43, thereby ensuring the consistency of the movement of the U-shaped slide bars 42 on both sides. Under the friction between the U-shaped slide bar 42 and the rotating disk 44, the U-shaped slide bar 42 drives the rotating disk 44 to rotate toward the center of the carrier frame 21, and the rotating disk 44 drives the rotating rod 45 to rotate, and the rotating rod 45 drives the elastic telescopic rod 46 and the contact wheel 47 to rotate, so that the elastic telescopic rod 46 drives the contact wheel 47 to contact the photovoltaic panel It is pressed against the inside of the supporting frame 21, thereby avoiding the problem that the photovoltaic panel is easy to fall out of the receiving opening 22 when the transport device moves uphill. The design of the elastic telescopic rod 46 helps to absorb certain vibrations and reduce the impact on the photovoltaic panel during transportation, thereby reducing potential damage; when the elastic telescopic rod 46 and the contact wheel 47 are not in use, the elastic telescopic rod 46 and the contact wheel 47 are in the J-shaped baffle 48, and the J-shaped baffle 48 will protect the elastic telescopic rod 46 and the contact wheel 47. The J-shaped baffle 48 can effectively prevent damage to the elastic telescopic rod 46 and the contact wheel 47 caused by external impact or collision with objects.

[0037] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An automated transport device based on an AGV, comprising an AGV transport device body (1), wherein a multi-axis robotic arm module is arranged on the top rear side of the AGV transport device body (1), characterized in that: A carrying device (2) is arranged on the front side of the top of the AGV transport device body (1), and the carrying device (2) comprises a carrying frame (21), the carrying frame (21) is fixed on the top of the AGV transport device body (1), a through opening is provided on the front side of the carrying frame (21), and a plurality of receiving openings (22) are provided on both sides of the inner wall of the through opening of the carrying frame (21), a plurality of carrying frames (23) are fixed inside the carrying frame (21), and a dual-axis motor (24) is fixed at the bottom of the carrying frame (21), and the dual-axis motor Screw rods (25) are fixed to the output ends on both sides of (24), and the exteriors of the two screw rods (25) are threadedly connected to threaded blocks (26), and an L-shaped rod (27) is fixed to the top of the threaded block (26), and the L-shaped rod (27) is slidably mounted on the bottom of the inner wall of the bearing frame (21), and an H-shaped frame (28) is fixed to the top of the L-shaped rod (27), and rollers (210) are rotatably mounted above and below the inner wall of the H-shaped frame (28), and the exteriors of the two rollers (210) are transmission-connected to rubber belts (29).

2. The AGV-based automated transportation device according to claim 1, characterized in that: The bearing device (2) further comprises a plurality of triangular blocks (211), wherein the plurality of triangular blocks (211) are evenly and equidistantly fixed on the front outer wall of the H-shaped frame (28), and the triangular blocks (211) are located above the bearing frame (23).

3. The AGV-based automated transportation device according to claim 1, characterized in that: The multi-axis robot module is used to remove the photovoltaic panel from the carrier frame (21), and the multi-axis robot module comprises a rotating table (5), a rotating column (6), a lateral movement component (7), a robot (8), and a pick-and-place suction cup component (9), wherein the rotating table (5) is fixed to the top of the AGV transport device body (1), the rotating column (6) is fixed to the output end of the rotating table (5), the lateral movement component (7) is fixed to the top of the rotating column (6), one end of the robot (8) is rotatably mounted on the outer wall of the moving end of the lateral movement component (7), and the pick-and-place suction cup component (9) is fixed to the other end of the robot (8).

4. The AGV-based automated transportation device according to claim 1, characterized in that: A stabilizing device (3) is provided inside the supporting frame (21), and the stabilizing device (3) comprises a water storage tank (31). The water storage tank (31) is embedded in the bottom of the inner wall of the supporting frame (21), and the rear side of the water storage tank (31) penetrates the inner wall of the supporting frame (21). L-shaped tubes (32) are fixed to the rear sides of both sides of the water storage tank (31), and a plurality of spraying tubes (33) are evenly and equidistantly mounted on the front sides of the two L-shaped tubes (32). The spraying tubes (33) penetrate the supporting frame (21), and each spraying tube (33) is located above the supporting frame (23). A pressing piece (34) is fixed to the front side of the water storage tank (31), and hinged rods (35) are hinged to the front sides of both sides of the pressing piece (34), and the ends of the two hinged rods (35) away from the pressing piece (34) are respectively hinged to the outer walls of the two L-shaped rods (27).

5. The AGV-based automated transportation device according to claim 4, characterized in that: A spring pump is provided between the pressing member (34) and the L-shaped tube (32), and the pressing member (34) is used to control the spring pump to extract water from the water storage tank (31) and transmit the water to the spraying tube (33) through the L-shaped tube (32) for spraying.

6. The AGV-based automated transportation device according to claim 4, characterized in that: The stabilizing device (3) further comprises two vertical rods (36), a plurality of friction rods (37), and a plurality of friction wheels (38); the two vertical rods (36) are respectively fixed to the rear sides of the two L-shaped rods (27); a strip opening for sliding the two vertical rods (36) is provided on the rear side of the supporting frame (21); the plurality of friction rods (37) are evenly and equidistantly fixed to the side of the two vertical rods (36) close to each other; and the plurality of friction wheels (38) are respectively fixed to the outer walls of the rear sides of the plurality of spray pipes (33).

7. The AGV-based automated transportation device according to claim 6, characterized in that: The exterior of the friction wheel (38) is provided with a rough surface, the top of the friction rod (37) is provided with a rough surface, and the rough surface of the friction wheel (38) is in contact with the rough surface of the friction rod (37).

8. The AGV-based automated transportation device according to claim 1, characterized in that: A sealing device (4) is provided on the front side of the supporting frame (21), and the sealing device (4) comprises two hydraulic cylinders (41) and two rotating rods (45). The two hydraulic cylinders (41) are respectively fixed on both sides of the supporting frame (21); a U-shaped sliding rod (42) is fixed on the front side of the telescopic ends of the two hydraulic cylinders (41); a connecting rod (43) is fixed between the front bottoms of the two U-shaped sliding rods (42); the two rotating rods (45) are respectively rotatably mounted on both sides of the front side of the supporting frame (21) through brackets; a plurality of elastic telescopic rods (46) are evenly and equidistantly fixed on the sides of the two rotating rods (45) away from each other; a resistance wheel (47) is rotatably mounted on one end of the elastic telescopic rod (46) away from the rotating rod (45); and a rotating disk (44) is fixed on the top of the two rotating rods (45).

9. The AGV-based automated transportation device according to claim 8, characterized in that: The outside of the rotating disk (44) is provided with a rough surface, the top of the U-shaped sliding rod (42) close to the supporting frame (21) is provided with a rough surface, and the rough surface of the rotating disk (44) is in contact with the rough surface of the U-shaped sliding rod (42).

10. The AGV-based automated transportation device according to claim 8, characterized in that: The sealing device (4) further comprises two J-shaped baffles (48), wherein the J-shaped baffles (48) are respectively fixed on two front sides of the carrying frame (21).

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