Goods transport vehicle with grabbing device

Abstract

The invention provides a cargo transport vehicle with a grabbing device, and relates to the technical field of transport vehicles, the cargo transport vehicle with the grabbing device comprises an AGV, the AGV is sequentially provided with a cargo stagnation assembly, a cargo taking assembly and a cargo unloading assembly in the conveying direction, and the cargo transport vehicle with the grabbing device captures multivariate information of cargoes in real time through a sensor; in combination with transmission speed data of the cargo stagnation assembly, the optimal action path, clamping force and time of the cargo taking assembly can be accurately controlled, accurate alignment of contact points of cargoes is ensured, all-directional and three-dimensional cargo fixing is achieved, the clamping strategy of the cargo taking assembly can be dynamically adjusted on the basis of data of a sensor for cargoes of different specifications, weights and materials, and the clamping efficiency of the cargo taking assembly is improved. And self-adaptive clamping is achieved, the universality and flexibility of the system are greatly improved, and it is ensured that the cargo carrying task is efficiently and stably completed under the complex working condition.

Description

Technical Field

[0001] The present invention relates to the technical field of transport vehicles, and in particular to a cargo transport vehicle with a grabbing device. Background Art

[0002] The AGV cart in the cargo transport vehicle refers to a special transport equipment equipped with an automatic guided device. The AGV cart is an unmanned intelligent vehicle that can move autonomously according to preset paths or instructions. It is specially used for handling and transporting goods in industrial environments.

[0003] The existing cargo transport vehicle moves to the high loading area through the AGV trolley, and the PLC controller controls the receiving hydraulic rod to drive the receiving door to open. The staff rolls the cargo through the roller of the receiving door to the high picking box, and then the AGV trolley transports the cargo. The conveyor belt transports the cargo to the opening, and the picking motor drives the driving rod to rotate, which in turn drives the push-pull rod to do push-pull action, and then drives the rotating part to swing, and drives the rotating gear to rotate through the connecting belt, and then drives the picking claw to rotate. At the same time, the rotating part drives the picking claw to move to the opening, and the clamping hydraulic rod starts to extend and drives the connecting rod to open to both sides, driving the clamping rod to open, and then the hydraulic rod contracts, driving the clamping rod to clamp the cargo, and at the same time the rotating part drives the picking claw to drive the cargo to be placed on the placement board, and the output hydraulic rod starts to drive the placement board to rotate, so as to facilitate the cargo to slide off the placement board.

[0004] However, in the above solution, the goods are manually rolled to the high-altitude pickup box. At this stage, there is a lack of real-time collection and recording of multiple information about the goods. In the subsequent docking process between the AGV trolley and the picking claw, due to the lack of support for these key information, the AGV trolley is difficult to accurately control the goods in real time during the subsequent docking process with the picking claw, and the goods are clamped and fixed by the picking claw. The clamping process is based on preset mechanical actions and lacks the ability to adaptively adjust goods of different specifications, weights, and materials. This single fixing method cannot effectively cope with complex, special-shaped or special-requirement goods, reduces handling efficiency, and causes unstable situations such as sliding and tilting of the goods during transportation, affecting transportation safety and stability.

[0005] Therefore, it is necessary to provide a new cargo transport vehicle with a grabbing device to solve the above-mentioned technical problems. Summary of the invention

[0006] In order to solve the technical problems that the lack of support for these key information makes it difficult for the AGV to accurately control the goods in real time during the subsequent docking process with the picking claw, and the single fixing method cannot effectively deal with complex, special-shaped or special-requirement goods, the present invention provides a cargo transport vehicle with a gripping device.

[0007] The cargo transport vehicle with a grabbing device provided by the present invention comprises an AGV trolley, and the AGV trolley is sequentially provided with a cargo retention component, a cargo pickup component and a cargo unloading component along the conveying direction; The bottom of the cargo-delaying component is fixedly connected to the top of the AGV trolley, and the cargo-delaying component can be used to output linear power to drive the cargo to move toward the pickup component; The bottom of the pickup component is fixedly connected to the top of the AGV trolley. The pickup component is provided with a sensor, which can capture the multivariate information of the goods on the delayed goods component and control the pickup component based on the data to achieve accurate positioning of the goods in three-dimensional space and transfer them to the unloading component. The cargo unloading assembly is arranged on the outer side wall of the AGV trolley, and the cargo unloading assembly is used to carry and unload the cargo transferred by the cargo picking assembly.

[0008] Furthermore, a conveyor belt is rotatably connected to the inner side of the high-altitude pickup box, and the conveyor belt can be used to output linear power to drive the goods to move toward the pickup component, and a motor for driving the conveyor belt to rotate is provided on the high-altitude pickup box.

[0009] Furthermore, the unloading assembly includes an output hydraulic rod rotatably connected to the AGV trolley and a placement plate rotatably connected to the AGV trolley at both ends, and the output end of the output hydraulic rod is rotatably connected to one side of the placement plate through a connecting shaft.

[0010] Furthermore, the picking component includes a support frame fixedly connected to the top of the AGV cart, and a driving member and a clamping member are movably connected to the support frame. The driving member is used to drive the clamping member to move in the direction of the unloading component and the delayed cargo component respectively, and the clamping member is used to fix the cargo in the delayed cargo component and unload the cargo when it is moving toward the unloading component.

[0011] Furthermore, the driving member includes a servo motor fixedly connected to the support frame, two synchronous pulleys 1 coaxially arranged and fixedly connected to the two ends of the support frame, and a synchronous pulley 2 fixedly connected to the two sides of the clamping member; The output end of the servo motor extends through one end of the support frame and is fixedly connected to a brake rod, the end of the brake rod away from the servo motor is rotatably connected to a driving rod, the end of the driving rod away from the brake rod is rotatably connected to a bending rod, the two ends of one side of the bending rod are respectively located at one end of one of the synchronous pulleys 1 and 2, and the bending rod is rotatably connected to the synchronous pulley 1, and the bending rod is rotatably connected to the synchronous pulley 2; A synchronous belt is arranged on the outer side of the synchronous pulley 1 and the synchronous pulley 2.

[0012] Furthermore, the clamping member includes a clamping shell fixedly connected between two synchronous pulleys, a clamping hydraulic rod is fixedly connected to the inner side of the clamping shell, an output end of the clamping hydraulic rod extends out of the clamping shell and is fixedly connected to a connecting push head, and the clamping shell is located on one side of the connecting push head and is provided with four bent brackets in a cross shape; The bending bracket is rotatably connected with connecting bracket 1 and connecting bracket 2 in sequence from the outside to the inside, the connecting bracket 2 is rotatably connected with a pushing bracket at one end away from the bending bracket, and the pushing bracket is rotatably connected to the outer side wall of the connecting push head, the connecting bracket 1 and the connecting bracket 2 are rotatably connected with a clamping bracket 1 and a clamping bracket 2 at one end away from the bending bracket, respectively, and the clamping bracket 1 and the clamping bracket 2 are arranged in a cross.

[0013] Furthermore, adjacent sides of the two clamping brackets are fixedly connected to the sensors respectively, and ends of the two clamping brackets away from the clamping hydraulic rod protrude toward adjacent sides of each other to form guide ends, and the cross-section of the guide ends is trapezoidal.

[0014] Furthermore, the delayed cargo assembly includes a support rod fixedly connected to the top of the AGV trolley, a high-altitude picking box is fixedly connected to the top of the support rod, a cargo inlet is provided on one side of the high-altitude picking box, a receiving door is provided at the outside of the inlet, a receiving hydraulic rod is rotatably connected to the outer surface of the high-altitude picking box, and the output end of the receiving hydraulic rod is rotatably connected to one side of the receiving door through a connecting rod.

[0015] Compared with the related art, the cargo transport vehicle with a grabbing device provided by the present invention has the following beneficial effects: 1. The cargo transport vehicle with a grabbing device can capture the multiple information of the cargo in real time through sensors, and combined with the transmission speed data of the cargo-delaying component, it can accurately control the optimal movement path, clamping force and timing of the cargo-picking component, ensure the precise alignment of each contact point of the cargo, and realize all-round and three-dimensional cargo fixation. In the face of cargo of different specifications, weights and materials, the clamping strategy of the cargo-picking component can be dynamically adjusted based on sensor data to achieve adaptive clamping, which greatly improves the versatility and flexibility of the system and ensures efficient and stable completion of cargo handling tasks under complex working conditions.

[0016] 2. Through the precise positioning and fixation of the goods in three-dimensional space, the problems of goods sliding and tilting caused by traditional two-side fixation are effectively avoided, ensuring the stability of the goods during transportation. This not only improves the transportation efficiency, but also reduces the risk of damage to the goods, and improves the overall performance of the logistics system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the overall structure of a cargo transport vehicle with a grabbing device provided by the present invention; Figure 2A schematic structural diagram of a cargo transport vehicle with a grabbing device provided by the present invention from another perspective; Figure 3 A schematic diagram of the structure of the delayed goods assembly provided by the present invention; Figure 4 A schematic diagram of the structure of the cargo-delayed component and the cargo-picking component provided by the present invention; Figure 5 A schematic structural diagram of the cargo-delayed component and cargo-picking component provided by the present invention from another perspective; Figure 6 A schematic diagram of the structure of the clamping member provided by the present invention; Figure 7 A schematic diagram of the structure of the clamping shell and the bending bracket provided by the present invention; Figure 8 A schematic diagram of the structure of a connecting bracket 1 and a connecting bracket 2 provided by the present invention; Fig. 9 A schematic diagram of the structure of a clamping bracket 1 provided by the present invention; Fig.10 This is a schematic structural diagram of the connecting push head provided by the present invention.

[0018] Numbers in the figure: 1. AGV trolley; 2. Support rod; 3. High-place picking box; 4. Conveyor belt; 5. Receiving door; 6. Receiving hydraulic rod; 7. Support frame; 8. Servo motor; 9. Brake rod; 10. Driving rod; 11. Bending rod; 12. Synchronous pulley 12; 13. Synchronous belt; 14. Synchronous pulley 2; 15. Clamping shell; 16. Clamping hydraulic rod; 17. Connecting push head; 18. Bending bracket; 19. Connecting bracket 1; 20. Connecting bracket 2; 21. Pushing bracket; 22. Clamping bracket 1; 23. Sensor; 24. Guide end; 25. Clamping bracket 2; 26. Placement plate; 27. Output hydraulic rod. DETAILED DESCRIPTION

[0019] The present invention will be further described below in conjunction with the accompanying drawings and implementation modes.

[0020] In the specific implementation process, Figures 1 to 10 As shown, the cargo transport vehicle with a grabbing device comprises an AGV trolley 1, and the AGV trolley 1 is provided with a cargo retention component, a cargo pickup component and a cargo unloading component in sequence along the conveying direction; The bottom of the cargo-delaying component is fixedly connected to the top of the AGV trolley 1, and the cargo-delaying component can be used to output linear power to drive the cargo to move toward the pickup component; The bottom of the picking component is fixedly connected to the top of the AGV trolley 1. The picking component is provided with a sensor 23. The sensor 23 can capture the multivariate information of the goods in the delayed goods component, and based on this data, control the picking component to realize the precise positioning of the goods in three-dimensional space, and transfer it to the unloading component; The unloading assembly is arranged on the outer side wall of the AGV trolley 1, and is used to carry and unload the goods transferred by the picking assembly.

[0021] It should be understood from the above scheme that the AGV trolley 1 moves to the high unloading area on its own according to the preset task or instruction, and after receiving the goods from the high unloading area through the cargo retention component, the AGV trolley 1 moves to the designated unloading position according to the preset task and instruction, and the linear power of the cargo retention component drives the goods to be stably pushed to the picking component. At this time, through the coordinated cooperation with the picking component, the goods are transported to the designated position of the picking component, and the upper and lower parts and both ends of the goods are fixed respectively through the picking component, and its rotational swinging power drives the goods to be accurately transferred to the top of the unloading component, and the unloading component smoothly unloads the goods from the side wall of the AGV trolley 1 to the predetermined position, completing the automated handling of the goods.

[0022] In this way, by adopting the above arrangement, the cargo transport vehicle with a grabbing device ensures the precise positioning and posture adjustment of the cargo during the transportation process through the coordinated work of the cargo storage, picking up and unloading components. Its continuous mechanized operation reduces the waiting time in the intermediate links, improves the cargo turnover speed, and realizes the full automation operation from receiving cargo at high altitudes to unloading at designated locations, which greatly improves the intelligence level and operational efficiency of the logistics system.

[0023] like Figures 1 to 5 As shown, the delayed cargo assembly includes a support rod 2 fixedly connected to the top of the AGV trolley 1, a high-altitude picking box 3 is fixedly connected to the top of the support rod 2, a cargo inlet is opened on one side of the high-altitude picking box 3, a receiving door 5 is arranged at the outer side of the inlet, a receiving hydraulic rod 6 is rotatably connected to the outer surface of the high-altitude picking box 3, and the output end of the receiving hydraulic rod 6 is rotatably connected to one side of the receiving door 5 through a connecting rod, a conveyor belt 4 is rotatably connected to the inner side of the high-altitude picking box 3, the conveyor belt 4 can be used to output linear power to drive the cargo to move toward the direction of the picking assembly, and a motor for driving the conveyor belt 4 to rotate is arranged on the high-altitude picking box 3.

[0024] It should be understood from the above scheme that when it is necessary to receive the goods from the high-altitude unloading area through the above-mentioned cargo hold-up component, when the AGV trolley 1 arrives at the designated position to prepare to receive the goods, the control system issues a command to start the receiving hydraulic rod 6, and the output end of the receiving hydraulic rod 6 extends outward, driving the receiving door 5 to rotate on the high-altitude pickup box 3 through the connecting rod. Since the receiving hydraulic rod 6 is rotatably connected to the outer surface of the high-altitude pickup box 3, it itself will turn with the expansion degree of the receiving door 5, avoiding motion interference and ensuring that the receiving door 5 opens smoothly. After the receiving door 5 is opened to a certain extent, the goods in the high-altitude unloading area enter the high-altitude pickup box 3 through the cargo entrance and fall steadily on the conveyor belt 4. The control system controls the conveyor belt 4 to start, output linear power, and drive the goods to move along the conveyor belt 4 toward the pickup component. Driven by the conveyor belt 4, the goods are smoothly transported from the cargo entrance to the vicinity of the pickup component, ready for the next step of cargo transfer.

[0025] When it is necessary to drive the linear power of the above-mentioned cargo-delayed component to stably push the goods to the picking component, the AGV trolley 1 is in the designated unloading position, the control system issues a command, the drive motor starts to run, and drives the conveyor belt 4 to rotate. The rotating conveyor belt 4 outputs linear power to push the goods on the top of the cargo-delayed component to move forward at a constant speed in the set direction. The speed and power control of the conveyor belt 4 ensure that the goods remain stable during the transportation process and will not cause the goods to shake or roll due to excessive acceleration, which is conducive to the subsequent precise docking with the picking component. While the goods are being transported stably, the subsequent picking component is prepared to receive according to the preset program or real-time instructions to ensure precise docking with the delivered goods. When the goods are transported by the conveyor belt 4 to the effective working range of the picking component, the picking component is started, and the goods are fixed by the clamping parts to complete the smooth transfer of the goods from the cargo-delayed component to the picking component.

[0026] In this way, by adopting the above arrangement, the cargo transport vehicle with a grabbing device realizes the interference-free opening of the receiving door 5 through the special connection between the receiving hydraulic rod 6 and the high-altitude pickup box 3, thereby ensuring the smoothness of operation and the durability of the equipment. The receiving door 5 after opening provides a spacious entrance for the goods, so that the goods can accurately and smoothly enter the high-altitude pickup box 3 and fall onto the conveyor belt 4, avoiding the deviation, collision or falling of the goods during the receiving process. The linear power output of the conveyor belt 4 transports the goods quickly and accurately from the entrance position to the vicinity of the pickup component, preparing for the subsequent transfer of goods, thereby improving the operating efficiency of the entire logistics system.

[0027] like Figure 1 , Figure 2 and Figures 4 to 9As shown, the picking component includes a support frame 7 fixedly connected to the top of the AGV cart 1, and a driving member and a clamping member are movably connected to the support frame 7. The driving member is used to drive the clamping member to realize the direction of the unloading component and the delayed cargo component respectively, and the clamping member is used to fix the cargo in the delayed cargo component and unload the cargo when it is facing the unloading component.

[0028] like Figure 1 , Figure 2 and Figure 4 As shown, the driving member includes a servo motor 8 fixedly connected to the support frame 7, two coaxially arranged synchronous pulleys 12 fixedly connected to both ends of the support frame 7, and synchronous pulleys 2 14 fixedly connected to both sides of the clamping member, the output end of the servo motor 8 extends through one end of the support frame 7 and is fixedly connected to a brake rod 9, the end of the brake rod 9 away from the servo motor 8 is rotatably connected to a driving rod 10, the end of the driving rod 10 away from the brake rod 9 is rotatably connected to a bending rod 11, two ends of one side of the bending rod 11 are respectively located at one end of one of the synchronous pulleys 12 and the synchronous pulley 2 14, and the bending rod 11 is rotatably connected to the synchronous pulley 12, the bending rod 11 is rotatably connected to the synchronous pulley 2 14, and a synchronous belt 13 is arranged on the outer side of the synchronous pulley 12 and the synchronous pulley 2 14.

[0029] It should be understood from the above scheme that when it is necessary to accurately transfer the above-mentioned goods driven by the rotation and swinging power to the top of the unloading assembly, the control system issues a command, the output end of the servo motor 8 starts to rotate, driving the brake rod 9 to rotate, and the end of the brake rod 9 then drives the driving rod 10 to rotate. The rotation of the driving rod 10 further drives the bending rod 11 to rotate on the synchronous pulley 1 12. While the bending rod 11 is rotating, it drives the synchronous pulley 2 14 to rotate through its connection with the synchronous pulley 2 14, and transmits power to the synchronous pulley 2 14 through its outer side and the synchronous belt 13 on the outer side of the synchronous pulley 1 12. Driven by the synchronous belt 13, the synchronous pulley 2 14 applies a synchronous transmission force to the inner clamping member. After the clamping member is subjected to this transmission force, the required rotation and swinging action is realized. During the rotation and swinging process, the clamping member accurately adjusts the fixed goods to the docking position at the top of the unloading assembly. Under the control of the clamping member, the goods are smoothly and accurately transferred to the top of the unloading assembly to complete the unloading operation of the goods.

[0030] In this way, by adopting the above arrangement, the cargo transport vehicle with a grabbing device, through the coordinated work of the servo motor 8, brake rod 9, drive rod 10, bending rod 11, synchronous belt 13 wheel and synchronous belt 13 of the cargo picking component, realizes the rotation and swing of the cargo and the precise transfer to the top of the cargo unloading component, thereby reducing the operation time and improving the overall efficiency of the logistics system.

[0031] like Figure 1 , Figure 2 and Figures 4 to 9As shown, the clamping member includes a clamping shell 15 fixedly connected between two synchronous pulleys 14, a clamping hydraulic rod 16 is fixedly connected to the inner side of the clamping shell 15, an output end of the clamping hydraulic rod 16 extends out of the clamping shell 15 and is fixedly connected to a connecting push head 17, and the clamping shell 15 is located on one side of the connecting push head 17 and has four bent brackets 18 arranged in a cross shape.

[0032] The bending bracket 18 is rotatably connected to a connecting bracket 19 and a connecting bracket 20 from the outside to the inside in sequence. The end of the connecting bracket 20 away from the bending bracket 18 is rotatably connected to a pushing bracket 21, and the pushing bracket 21 is rotatably connected to the outer side wall of the connecting push head 17. The ends of the connecting bracket 19 and the connecting bracket 20 away from the bending bracket 18 are rotatably connected to a clamping bracket 1 22 and a clamping bracket 2 25 respectively. The clamping bracket 1 22 and the clamping bracket 2 25 are arranged in a cross. The adjacent sides of the two clamping brackets 22 are fixedly connected to the sensors 23 respectively. The ends of the two clamping brackets 22 away from the clamping hydraulic rod 16 protrude toward the adjacent sides of each other and form a guide end 24. The cross-section of the guide end 24 is trapezoidal.

[0033] It should be understood from the above scheme that when it is necessary to coordinate the above-mentioned cargo holding component with the cargo picking component to fix the upper and lower parts and both ends of the cargo, Figure 4 and Figure 6 As shown, when the goods approach the clamping bracket 22 driven by the conveyor belt 4, the guide end 24 of the trapezoidal setting is trapezoidal, with a narrow front end and a wide rear end, which helps to guide the originally offset goods to gradually move to the center position, and prevent the goods from deviating from the predetermined path during the transmission process. When the goods pass through the sensor 23 on the clamping bracket 22, the sensor 23 detects the existence of the object. The sensor 23 can use a variety of detection principles such as photoelectric, ultrasonic, and pressure to sense the position and state of the goods in real time. After the sensor 23 detects the goods, it immediately transmits the signal to the control system. After the control system receives the signal from the sensor 23 , the judgment condition is met, the output end of the clamping hydraulic rod 16 is controlled to contract, the contraction of the clamping hydraulic rod 16 drives the connecting push head 17 to move, and then pushes the multiple rotating connected pushing brackets 21 on the outside, and the pushing bracket 21 drives the connecting bracket 20 on the other side to rotate on the bending bracket 18, and the rotation of the connecting bracket 20 drives the clamping bracket 1 22 and the clamping bracket 2 25 to contract inward to clamp and fix the goods. The clamping bracket 1 22 and the clamping bracket 2 25 are kept at a fixed distance through the connecting bracket to ensure that the two are always in a flush state during the rotation process, and the goods are stably clamped together. At this time, if Figure 4 As shown, the cargo is then rotated and swung and accurately transferred to the top of the cargo unloading assembly through the above-mentioned clamping member.

[0034] Thus, by adopting the above arrangement, the cargo transport vehicle with a grabbing device can effectively guide the cargo offset on the conveyor belt 4 through the protruding guide end 24 with its unique trapezoidal structure, so that the cargo automatically returns to the center position of the clamping bracket 22, thereby providing good positioning for subsequent precise clamping.

[0035] By configuring the position and shape of the clamping bracket 1 22 and the clamping bracket 25 and the detection area of ​​the sensor 23, the system can realize the precise positioning of the goods in three-dimensional space. The clamping bracket 1 22 and the clamping bracket 2 25 correspond to the upper and lower ends of the goods respectively, and the sensor 23 is responsible for detecting whether the goods have reached the preset positions of the two clamping points. When the goods pass through the detection area of ​​the sensor 23, the control system controls the clamping hydraulic rod 16 to drive the clamping bracket 1 22 and the clamping bracket 2 25 to retract inward according to the signal of the sensor 23, and accurately controls the optimal action path, clamping force and timing of the picking component to form simultaneous clamping of the upper and lower parts and both ends of the goods, ensure the precise alignment of each contact point of the goods, and realize all-round and three-dimensional cargo fixation. In the face of goods of different specifications, weights, and materials, the clamping strategy of the picking component can be dynamically adjusted based on the data of the sensor 23 to realize adaptive clamping, which greatly improves the versatility and flexibility of the system and ensures the efficient and stable completion of cargo handling tasks under complex working conditions.

[0036] By precisely positioning and fixing the goods in three dimensions, the system effectively avoids problems such as sliding and tilting of goods that may be caused by traditional fixation on both sides, ensuring the stability of the goods during transportation. This not only improves transportation efficiency, but also reduces the risk of damage to goods, thereby improving the overall performance of the logistics system.

[0037] Optionally, the sensor 23 is not only used to trigger the clamping action, but also can monitor the state of the goods in the clamping process in real time, such as position, posture, force, etc. The control system dynamically adjusts the working parameters of the clamping hydraulic rod 16 according to the information fed back by the sensor 23, so as to realize precise control and adaptive adjustment of the clamping force, and ensure that the clamping bracket 1 22 and the clamping bracket 2 25 always fix the upper and lower ends of the goods in the best way, which not only ensures the firmness of the clamping, but also avoids unnecessary damage to the goods.

[0038] like Figure 2 As shown, the unloading assembly includes an output hydraulic rod 27 rotatably connected to the AGV trolley 1 and a placement plate 26 rotatably connected to the AGV trolley 1 at both ends, and the output end of the output hydraulic rod 27 is rotatably connected to one side of the placement plate 26 through a connecting shaft; It should be understood from the above scheme that the hydraulic rod 27 installed on the AGV trolley 1 can rotate around a certain axis as a power source, and the output hydraulic rod 27 provides the driving force required for the unloading action through the telescopic movement of the output end under the command of the control system. The characteristics of the hydraulic system enable the output hydraulic rod 27 to provide large torque, fast response and stable power output, and transmit the power to the placement plate 26 through the connecting shaft to make it tilt or flip, so as to realize the smooth and directional unloading of goods from the placement plate 26, adapt to the unloading needs of different heights and angles, and improve the flexibility and adaptability of the system; Preferably, the receiving door 5 and the placement plate 26 are respectively rotatably connected with a plurality of movable rollers at equal intervals, and the movable rollers are used to assist in moving the goods; During the movement of goods, multiple movable rollers are in contact with the surface of the goods, and rolling friction replaces sliding friction, which significantly reduces the resistance during the movement of goods, making the unloading process of goods easier and smoother, and guiding the goods to move along a predetermined path, preventing the goods from deviating from the target position during the unloading process, ensuring that the goods fall accurately and orderly to the designated area, helping to protect the goods from impact damage, and also reducing the impact load on the AGV trolley 1 and the unloading component itself.

[0039] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A cargo transport vehicle with a gripping device, comprising an AGV vehicle (1), characterized in that: The AGV trolley (1) is provided with a cargo retention component, a cargo pickup component and a cargo unloading component in sequence along the conveying direction; The bottom of the cargo holding component is fixedly connected to the top of the AGV trolley (1), and the cargo holding component can be used to output linear power to drive the cargo to move in a direction close to the cargo picking component; The bottom of the picking component is fixedly connected to the top of the AGV trolley (1), and a sensor (23) is provided on the picking component. The sensor (23) is used to capture multivariate information of goods in the delayed goods component; The cargo unloading component is arranged on the outer side wall of the AGV trolley (1), and is used to carry and unload the cargo transferred by the cargo picking component.

2. The cargo transport vehicle with a grabbing device according to claim 1, characterized in that: The picking assembly comprises a clamping member, which is arranged on the AGV trolley (1) and can be used to clamp or cancel the clamping of the goods. The clamping member is rotatably connected to a clamping bracket 1 (22) and a clamping bracket 2 (25), respectively. The clamping bracket 1 (22) and the clamping bracket 2 (25) are arranged in a cross shape.

3. The cargo transport vehicle with a grabbing device according to claim 2, characterized in that: Adjacent sides of the two clamping brackets (22) are respectively fixedly connected to the sensor (23), and ends of the two clamping brackets (22) away from the clamping hydraulic rod (16) protrude toward adjacent sides of each other to form a guide end (24).

4. The cargo transport vehicle with a grabbing device according to claim 3, characterized in that: The cross section of the guide end (24) is arranged in a trapezoidal shape.

5. The cargo transport vehicle with a grabbing device according to claim 4, characterized in that: The picking component also includes a driving member, which can be used to drive the clamping member to move toward the unloading component and the delayed cargo component respectively.

6. The cargo transport vehicle with a grabbing device according to claim 5, characterized in that: The driving member comprises a servo motor (8) fixedly connected to a support frame (7), two synchronous belt (13) wheels (1) coaxially arranged and fixedly connected to two ends of the support frame (7), and synchronous belt (13) wheels (2) fixedly connected to two sides of the clamping member, the output end of the servo motor (8) extends through one end of the support frame (7) and is fixedly connected to a brake rod (9), the end of the brake rod (9) away from the servo motor (8) is rotatably connected to a driving rod (10), the end of the driving rod (10) away from the brake rod (9) is rotatably connected to a bending rod (11), two ends of one side of the bending rod (11) are respectively located at one end of one synchronous belt (13) wheel (1) and one end of the synchronous belt (13) wheel (2), and the bending rod (11) is rotatably connected to the synchronous belt (13) wheel (1), and the bending rod (11) is rotatably connected to the synchronous belt (13) wheel (1), and the bending rod (11) is rotatably connected to the synchronous belt (13) wheel (2), and a synchronous belt (13) is arranged on the outer side of the synchronous belt (13) wheel (1) and the synchronous belt (13) wheel (2).

7. The cargo transport vehicle with a grabbing device according to claim 6, characterized in that: The delayed cargo assembly comprises a high-altitude pickup box (3), the high-altitude pickup box (3) having a conveying member rotatably connected inside thereof, the conveying member being capable of outputting linear power to drive the cargo to move in a direction close to the pickup assembly, and a motor for driving the conveying member to rotate is provided on the high-altitude pickup box (3).

8. The cargo transport vehicle with a grabbing device according to claim 7, characterized in that: The cargo unloading assembly comprises a hydraulic component rotatably connected to the AGV trolley (1) and a placement plate (26) rotatably connected to the AGV trolley (1) at both ends, and the output end of the hydraulic component is rotatably connected to one side of the placement plate (26) via a connecting shaft.

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