AGV (Automatic Guided Vehicle) automatic transportation equipment for repository

Abstract

The invention belongs to the field of AGV transportation, and particularly relates to storage warehouse AGV automatic transportation equipment which comprises an AGV navigation vehicle, the AGV navigation vehicle is composed of a driving base and a moving base, a movable mechanical claw is arranged on one side of the driving base, a gear motor capable of ascending and descending is arranged at the rear end of the mechanical claw, and the gear motor is connected with the driving base. Two second hydraulic rods which are symmetrically arranged are arranged on the top face of the AGV navigation vehicle, through the arrangement of a driving base and a movable base, a mechanical claw moves to the middle of a cloth roll and grabs the middle position of the cloth roll, the whole mechanical claw is driven by a gear motor to rotate anticlockwise, the cloth roll is rotated to be in a vertical state, and through the arrangement, the cloth roll can be driven to move to the middle of the cloth roll. The cloth falling and transporting efficiency is effectively improved, meanwhile, the small-size movable base, the cloth roll and the supporting rollers are vertically arranged, the occupied area of the cloth falling and transporting device is reduced, and the problems that in the transporting process, movement is limited, steering is limited and the like are greatly solved.

Description

Technical Field

[0001] The invention belongs to the field of AGV transportation, in particular to a storage warehouse AGV automatic transportation device. Background Art

[0002] Automated Guided Vehicle, also known as AGV, is an industrial vehicle that loads goods automatically or manually, drives automatically along a set route or tows a cargo trolley to a designated location, and then loads and unloads goods automatically or manually.

[0003] The characteristics of AGV are that the running path and destination can be controlled by the management program, the mobility is strong, the route change is very convenient and flexible, the setting cost is low, the station recognition ability and positioning accuracy are high, and it has the ability to coordinate with various processing equipment. With the support of the communication system and the scheduling of the management system, flexible control of logistics can be achieved.

[0004] Traditional AGV transport equipment is often an integrated setting. When taking on large items, AGV transport equipment with a larger footprint is required. However, large-area equipment will result in site restrictions during movement and turning. A large amount of space in the storage warehouse is generally used for warehousing. If a large moving space is prepared, the storage space will be greatly reduced, resulting in a significant reduction in storage capacity.

[0005] To this end, the present invention provides a storage warehouse AGV automatic transportation equipment. Summary of the invention

[0006] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0007] The technical solution adopted by the present invention to solve the technical problem is as follows: the storage AGV automatic transport equipment described in the present invention comprises an AGV navigation vehicle, the AGV navigation vehicle is composed of a driving base and a mobile base, a movable mechanical claw is arranged on one side of the driving base, a reduction motor capable of lifting and lowering is arranged at the rear end of the mechanical claw, two symmetrically arranged hydraulic rods 2 are arranged on the top surface of the AGV navigation vehicle, a receiving platform is fixedly connected to the top of the hydraulic rod 2, and a support plate is arranged on the top of the mobile base; Through the setting of the driving base and the mobile base, at the beginning, the driving base and the mobile base are spliced ​​with each other and moved to the bottom of the cloth dropping device, waiting for the cloth dropping device to put down the cloth roll and the support roller, and placing the two ends of the support roller on the two receiving platforms of the AGV navigation vehicle. Before placement, the hydraulic rod 2 drives the receiving platform to rise to cooperate with the cloth dropping process. After the placement is completed, the hydraulic rod 2 drives the receiving platform to sink, so as to stably receive the cloth roll and the support roller. The top of the receiving platform is concave, which can effectively clamp the support roller; then the mechanical claw is moved to the middle of the cloth roll and grasps the middle position of the cloth roll. The reduction motor drives the entire mechanical claw to rotate counterclockwise. At the beginning of rotation, the two ends of the support roller are still maintained above the receiving platform. At the same time, the two hydraulic rods 2 cooperate with the height change of the support roller to extend and shorten, assisting the rotation process of the support roller, and finally rotate until the end of the support roller is separated from the receiving platform and contacts with the support plate, and gradually rotates the support roller to a vertical state, and allows part of the bottom of the cloth roll to be placed above the receiving platform of the mobile base, and then the mechanical claw can be released. The fixing can also keep the mechanical claw in its original state and move with the mobile base to ensure the stable movement of the cloth roll; then the mobile base and the driving base are separated from each other, the vertical cloth roll and support roller are transported, and another mobile base is used to receive the new cloth roll and support roller, and the new mechanical claw is used to adjust the position of the support roller and cloth roll. Through this setting, not only the cloth dropping and transportation efficiency are effectively improved, but also the small-volume mobile base plus the vertically placed cloth roll and support roller reduce their own floor space, greatly reducing the problems of limited movement and limited steering during transportation. Because the storage warehouse is generally high, there is no need to worry about the problem of height limitation; at the end of transportation, a driving base and a mechanical claw can also be placed to dock with the mobile base and adjust the placement of the cloth roll; at the same time, the AGV navigation vehicle can also normally receive and transport without being disassembled; and a hydraulic rod 2 and a receiving platform can be installed on the top surface of the driving base, so that the driving base can also be transported alone.

[0008] Preferably, the bottom of the driving base and the mobile base are both equipped with multiple sets of driving wheels, two rotatable docking forks are fixedly connected to the side of the mobile base close to the driving base, multiple valve holes are provided on the top surface of the docking fork, and the side of the driving base close to the mobile base is provided with a socket compatible with the docking fork, and multiple solenoid valves are installed in the socket. When working, the driving base and the mobile base are controlled to move by the multiple sets of driving wheels; when the mobile base and the driving base are docked, the two docking forks are inserted into the socket, and then the solenoid valves are used to dock with the valve holes to complete the mutual fixing process of the driving base and the mobile base; and in the process of the mobile base moving alone, the docking fork is rotated upward to reduce the footprint of the mobile base, and at the same time, the docking fork bent upward can fit on the outside of the cloth roll, thereby improving the stability of the cloth roll during transportation.

[0009] Preferably, the docking fork is segmented, and the two sections of the docking fork are rotatably connected by a rotating shaft, and a steel cable that can be pulled and released is connected to the top of a section of the docking fork away from the mobile base. When working, the docking fork is bent from the segmented position by pulling the steel cable, and the end of the docking fork is in contact with the outer side of the cloth roll, applying pressure to the outer side of the cloth roll, and at the same time, the hydraulic rod 2 on the mobile base pushes the receiving platform upward, and applies an oblique upward supporting force to the bottom of the cloth roll, so that the cloth roll is pressed toward the center from both sides by the receiving platform and the docking fork, thereby clamping the cloth roll. At this time, during the transportation process, the mechanical claw can be excluded, and the mobile base can carry the cloth roll alone for movement; if the cloth roll is of large mass, in order to ensure stability, the mechanical claw can still be involved in the movement; when the mechanical claw is not used, it is only necessary to set the mechanical claw at the starting point and the end point for adjusting the cloth roll, which further reduces the floor space occupied during transportation and makes the moving process less restricted by the site, thereby increasing the scope of application and reducing site requirements.

[0010] Preferably, two electric winding rollers are installed inside the mobile base, and the outer sides of the electric winding rollers are wound and fixedly connected with the steel cable. A torsion spring is fixedly connected between the rotating shaft and the docking fork. When working, the steel cable is wound by the electric winding roller to drive the docking fork to rotate. The torsion spring will have a large elastic potential energy only when the angle exceeds ninety degrees, which is used to allow the docking fork to quickly return to a horizontal state after the electric winding roller releases the steel cable.

[0011] Preferably, the mechanical claw consists of an upper binding claw and a lower supporting claw, the middle parts of the upper binding claw and the lower supporting claw are fixedly connected to a horizontally arranged hydraulic rod four, the outer sides of the hydraulic rod four are fixedly connected to a vertically arranged hydraulic rod three, the output end of the reduction motor is fixedly connected to the two hydraulic rods three, and when working, when grabbing the cloth roll, the hydraulic rod three is first used to separate the upper binding claw and the lower supporting claw, and then the hydraulic rod four is extended to allow the upper binding claw and the lower supporting claw to move to the upper and lower positions of the cloth roll, and then the hydraulic rod three is used to allow the upper binding claw and the lower supporting claw to grab the cloth roll, and the reduction motor drives the hydraulic rod four to rotate, and then drives the cloth roll to rotate as a whole, thereby completing the adjustment process of the cloth roll, the upper binding claw has a larger curvature, which can bind the cloth roll well, while the lower supporting claw has a smaller curvature, which is mainly used to support the cloth roll. Because the bottom space of the cloth roll is small, in order to allow the lower supporting claw to be pulled out smoothly, a design with a smaller curvature is used.

[0012] Preferably, a vertically arranged hydraulic rod 1 is fixedly connected to the bottom of the reduction motor, a moving disk is arranged at the bottom of the hydraulic rod 1, a driving motor is installed on the top of the moving disk, the output end of the driving motor is fixedly connected to the hydraulic rod 1, and a connecting arm is connected between the moving disk and the AGV navigation vehicle. When working, during the cloth dropping process, the driving motor drives the hydraulic rod 1 to rotate, so that the entire mechanical claw is evacuated from above the AGV navigation vehicle, so that the cloth roll can be dropped smoothly, and then the mechanical claw is opened first, and then moved to the middle of the cloth roll for clamping and fixing; an electric wheel is installed at the bottom of the moving disk, so that the moving disk can move by itself, and the connecting arm is slidably engaged with the outer side of the AGV navigation vehicle to ensure the position accuracy of the moving disk, and at the same time the connecting arm can also be released to allow the moving disk to be separated; the hydraulic rod 1 is used to control the lifting and lowering of the overall mechanical claw, and is used to adaptively adjust the height of the middle part of the cloth roll during the rotation of the cloth roll.

[0013] Preferably, a plurality of vertically arranged hydraulic rods 5 are fixedly connected to the bottom of the support plate, and a sinking groove adapted to the hydraulic rod 2 is opened on the top surface of the movable base, and a lifting platform for controlling the lifting and lowering of the hydraulic rod 2 is installed in the sinking groove. During operation, in order to improve the stability of the cloth roll during movement, when the end of the support roller contacts the support plate, the hydraulic rod 5 and the lifting platform are started to allow the support plate and the hydraulic rod 2 to sink as a whole, thereby lowering the height of the cloth roll and ensuring that the receiving platform always lifts part of the cloth roll. During the sinking process, the mechanical claw still fixes the cloth roll, and adapts to the lifting and lowering of the support plate through the lifting and lowering of the hydraulic rod 1.

[0014] Preferably, a support pad is fixedly connected to the top of the movable base, and the support pad is hollow. Two expansion bags are installed in the receiving platform of the movable base, and an air pump connected with the support pad and the expansion bags is installed in the movable base. During operation, when the cloth roll falls, the air pump fills gas into the support pad to expand it, and the bottom of the cloth roll finally fits with the support pad. At the same time, before the cloth roll contacts, the expansion bag on the top of the receiving platform is filled with air by the air pump to expand it, and is also used to support the cloth roll. In this way, the bottom of the cloth roll is supported by elastic contact, reducing the squeezing damage to the cloth roll; the bottom of the support pad is a horizontal hard structure, which can always remain horizontal and will not affect the connection between the driving base and the movable base.

[0015] Preferably, both sides of the top of the receiving platform of the movable base are rotatably connected with flip covers, and the expansion bag is located below the flip cover. A horizontally arranged elastic rope is installed in the expansion bag. When working, after the air pump fills the expansion bag, the expansion bag will push the flip cover open and expand upward, so that the cloth roll can smoothly contact the expansion bag. When the air pump is turned off, the air in the expansion bag is discharged, and an elastic member for resetting is provided between the flip cover and the receiving platform. The expansion bag shrinks and shrinks toward the center under the pull of the elastic rope, and then is recovered under the resetting of the flip cover, thereby reducing the subsequent impact on the movement of the support roller.

[0016] Preferably, the end of the movable base away from the docking fork is rotatably connected to a side support platform, the outer side of the side support platform is rotatably connected to a roller, and the top of the side support platform is inclined. During operation, when the support roller starts to rotate, the end of the support roller will contact the top surface of the side support platform, providing supporting force to the support roller and assisting the rotation process of the support roller. When the rotation is completed, as the receiving platform sinks, the side support platform can rotate inward to support the outer side of the cloth roll, further improving the transfer stability of the cloth roll; when the cloth roll is not needed to be supported or transported, the side support platform can rotate outward to allow the roller to contact the ground and guide the forward direction of the movable base; a driving shaft for controlling the rotation of the side support platform is installed on the outer side of the movable base.

[0017] The beneficial effects of the present invention are as follows: 1. The AGV automatic transport equipment for a storage warehouse described in the present invention has a concave top on the receiving platform through the arrangement of a driving base and a moving base, which can effectively clamp the support roller; then the mechanical claw is moved to the middle of the cloth roll and grasps the middle position of the cloth roll, and the reduction motor drives the entire mechanical claw to rotate counterclockwise. At the beginning of rotation, the two ends of the support roller are still maintained above the receiving platform, and at the same time, the two hydraulic rods cooperate with the height change of the support roller to extend and shorten, assisting the rotation process of the support roller, and finally rotate until the end of the support roller is separated from the receiving platform and contacts with the support plate, and Gradually rotate the support roller to a vertical state, and place part of the bottom of the cloth roll on the receiving platform of the mobile base. Then the mobile base and the driving base are separated from each other, the vertical cloth roll and support roller are transported, and another mobile base is used to receive new cloth rolls and support rollers. At the same time, new mechanical claws are used to adjust the positions of the support rollers and cloth rolls. Through this arrangement, not only the cloth dropping and transportation efficiency are effectively improved, but also the small-volume mobile base plus the vertically placed cloth rolls and support rollers reduce their own floor space, greatly reducing the problems of limited movement and limited steering during transportation.

[0018] 2. The storage warehouse AGV automatic transportation equipment described in the present invention controls the movement of a driving base and a mobile base through multiple sets of driving wheels; when the mobile base and the driving base are docked, two docking forks are inserted into the jacks, and then the solenoid valve and the valve hole are used for docking to complete the mutual fixation process of the driving base and the mobile base; and when the mobile base moves alone, the docking fork is rotated upward to reduce the floor space of the mobile base, and at the same time, the docking fork bent upward can fit on the outside of the cloth roll, thereby improving the stability of the cloth roll during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0020] Figure 1 is a stereogram of the present invention; Figure 2 is a three-dimensional diagram of the driving base and the moving base of the present invention; Figure 3 is a three-dimensional diagram of the mechanical claw of the present invention; Figure 4 is a three-dimensional diagram of the mobile base and docking fork of the present invention; Figure 5 is a three-dimensional diagram of the mobile base of the present invention; Figure 6 It is a three-dimensional diagram of the receiving platform of the present invention; In the figure: 1. AGV navigation vehicle; 2. driving base; 3. mobile base; 4. cloth roll; 5. support roller; 6. mechanical claw; 7. reduction motor; 8. driving wheel; 9. hydraulic rod one; 10. receiving platform; 11. hydraulic rod two; 12. side support platform; 13. support pad; 14. support plate; 15. hydraulic rod three; 16. hydraulic rod four; 17. upper restraining claw; 18. lower supporting claw; 20. connecting arm; 21. mobile plate; 22. docking fork; 23. valve hole; 24. steel cable; 25. rotating shaft; 26. roller; 27. expansion bag; 28. flip cover. DETAILED DESCRIPTION

[0021] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0022] like Figures 1 to 6 As shown, a storage AGV automatic transport device according to an embodiment of the present invention comprises an AGV navigation vehicle 1, the AGV navigation vehicle 1 is composed of a driving base 2 and a mobile base 3, a movable mechanical claw 6 is arranged on one side of the driving base 2, a reduction motor 7 capable of lifting and lowering is arranged at the rear end of the mechanical claw 6, two symmetrically arranged hydraulic rods 11 are arranged on the top surface of the AGV navigation vehicle 1, a receiving platform 10 is fixedly connected to the top of the hydraulic rod 11, and a support plate 14 is arranged on the top of the mobile base 3; By setting the driving base 2 and the mobile base 3, at the beginning, the driving base 2 and the mobile base 3 are spliced ​​with each other and moved to the bottom of the cloth dropping device, waiting for the cloth dropping device to put down the cloth roll 4 and the support roller 5; wherein the cloth dropping device is a device that places the finished cloth on the outside of the support roller 5 and controls the movement of the support roller 5 at the same time. This device is widely used in textile finishing equipment; the two ends of the support roller 5 are placed above the two receiving platforms 10 of the AGV navigation vehicle 1. Before placement, the hydraulic rod 11 drives the receiving platform 10 to rise to cooperate with the process of dropping the cloth. After the placement is completed, the hydraulic rod 11 drives the receiving platform 10 to sink, thereby stabilizing the receiving platform. The cloth roll 4 and the support roller 5 are held, and the top of the receiving platform 10 is concave, which can effectively clamp the support roller 5; then the mechanical claw 6 is moved to the middle of the cloth roll 4, and the middle position of the cloth roll 4 is grasped, and the entire mechanical claw 6 is driven by the reduction motor 7 to rotate counterclockwise. At the beginning of rotation, the two ends of the support roller 5 are still maintained above the receiving platform 10, and at the same time, the two hydraulic rods 11 are extended and shortened in accordance with the height change of the support roller 5 to assist the rotation process of the support roller 5, and finally rotate until the end of the support roller 5 is separated from the receiving platform 10 and contacts with the support plate 14, and gradually rotate the support roller 5 to a vertical state. The bottom of the cloth roll 4 is placed on the receiving platform 10 of the mobile base 3, and then the fixation of the mechanical claw 6 can be released, or the mechanical claw 6 can remain in its original state and move with the mobile base 3 to ensure the stable movement of the cloth roll 4; then the mobile base 3 and the driving base 2 are separated from each other, the vertical cloth roll 4 and the support roller 5 are transported, and another mobile base 3 is used to receive the new cloth roll 4 and the support roller 5, and the new mechanical claw 6 is used to adjust the position of the support roller 5 and the cloth roll 4. Through this arrangement, not only the cloth dropping and transportation efficiency are effectively improved, but also the small-volume mobile base 3 plus the vertically placed The cloth roll 4 and support roller 5 are placed on the vehicle, which reduces the floor space occupied by the vehicle and greatly reduces the problems of limited movement and limited turning during transportation. Because the storage warehouse is generally high, there is no need to worry about the height limitation. At the end of transportation, a driving base 2 and a mechanical claw 6 can also be placed to dock with the mobile base 3 and adjust the placement of the cloth roll 4. At the same time, the AGV navigation vehicle 1 can also normally carry out the receiving and transportation work without being disassembled. Moreover, a hydraulic rod 11 and a receiving platform 10 can be installed on the top surface of the driving base 2, so that the driving base 2 can also carry out transportation work independently.

[0023] The bottom of the driving base 2 and the mobile base 3 are both equipped with multiple sets of driving wheels 8. Two rotatable docking forks 22 are fixedly connected to one side of the mobile base 3 close to the driving base 2. Multiple valve holes 23 are provided on the top surface of the docking fork 22. A socket adapted to the docking fork 22 is provided on one side of the driving base 2 close to the mobile base 3. Multiple solenoid valves are installed in the socket. During operation, the driving base 2 and the mobile base 3 are controlled to move by multiple sets of driving wheels 8; when the mobile base 3 and the driving base 2 are docked, the two docking forks 22 are inserted into the jacks, and then the solenoid valve and the valve hole 23 are used for docking to complete the mutual fixation process of the driving base 2 and the mobile base 3; and when the mobile base 3 moves alone, the docking fork 22 is rotated upward to reduce the footprint of the mobile base 3, and at the same time, the docking fork 22 bent upward can fit on the outside of the cloth roll 4, thereby improving the stability of the cloth roll 4 during transportation.

[0024] The docking fork 22 is divided into sections, and two sections of the docking fork 22 are rotatably connected by a rotating shaft 25. A steel cable 24 that can be pulled and released is connected to the top of the docking fork 22 that is away from the mobile base 3. During operation, the steel cable 24 is pulled to bend the docking fork 22 from the segmented position, and the end of the docking fork 22 is in contact with the outer side of the cloth roll 4, applying pressure to the outer side of the cloth roll 4. At the same time, the hydraulic rod 21 on the mobile base 3 pushes the receiving platform 10 upward, applying an oblique upward supporting force to the bottom of the cloth roll 4, so that the cloth roll 4 is pressed toward the center from both sides by the receiving platform 10 and the docking fork 22, thereby clamping the cloth roll 4. At this time, during the transportation process, the mechanical claw 6 can be excluded, and the mobile base 3 can carry the cloth roll 4 alone for movement; if the cloth roll 4 is of large mass, in order to ensure stability, the mechanical claw 6 can still be involved in the movement; when the mechanical claw 6 is not used, it is only necessary to set the mechanical claw 6 at the starting point and the end point for adjusting the cloth roll 4, which further reduces the floor space occupied during transportation and makes the moving process less restricted by the site, thereby increasing the scope of application and reducing site requirements.

[0025] Two electric winding rollers are installed inside the mobile base 3, the outer sides of the electric winding rollers are wound and fixedly connected with the steel cables 24, and a torsion spring is fixedly connected between the rotating shaft 25 and the docking fork 22; During operation, the electric winding roller winds up the steel cable 24 to drive the docking fork 22 to rotate. The torsion spring will have a large elastic potential energy only when the angle exceeds ninety degrees, so as to allow the docking fork 22 to quickly return to a horizontal state after the electric winding roller releases the steel cable 24.

[0026] The mechanical claw 6 is composed of an upper binding claw 17 and a lower supporting claw 18. The middle parts of the upper binding claw 17 and the lower supporting claw 18 are fixedly connected to a horizontally arranged hydraulic rod 4 16. The outer side of the hydraulic rod 4 16 is fixedly connected to a vertically arranged hydraulic rod 3 15. The output end of the reduction motor 7 is fixedly connected to the two hydraulic rods 3 15. During operation, when grabbing the cloth roll 4, first use the hydraulic rod three 15 to separate the upper binding claw 17 and the lower supporting claw 18, then the hydraulic rod four 16 is extended to move the upper binding claw 17 and the lower supporting claw 18 to the upper and lower positions of the cloth roll 4, and then the hydraulic rod three 15 is used to allow the upper binding claw 17 and the lower supporting claw 18 to grab the cloth roll 4, and the reduction motor 7 drives the hydraulic rod four 16 to rotate, thereby driving the cloth roll 4 to rotate as a whole, thereby completing the adjustment process of the cloth roll 4. The upper binding claw 17 has a larger curvature and can bind the cloth roll 4 well, while the lower supporting claw 18 has a smaller curvature and is mainly used to support the cloth roll 4. Because the bottom space of the cloth roll 4 is small, in order to allow the lower supporting claw 18 to be pulled out smoothly, a design with a smaller curvature is used.

[0027] A vertically arranged hydraulic rod 9 is fixedly connected to the bottom of the reduction motor 7, a movable plate 21 is arranged at the bottom of the hydraulic rod 9, a driving motor is installed on the top of the movable plate 21, an output end of the driving motor is fixedly connected to the hydraulic rod 9, and a connecting arm 20 is connected between the movable plate 21 and the AGV navigation vehicle 1; During operation, during the cloth dropping process, the driving motor drives the hydraulic rod 9 to rotate, so that the entire mechanical claw 6 is withdrawn from the top of the AGV navigation vehicle 1, so that the cloth drop of the cloth roll 4 can proceed smoothly, and then the mechanical claw 6 is opened first, and then moved to the middle of the cloth roll 4 to clamp and fix it; an electric wheel is installed at the bottom of the mobile disk 21, so that the mobile disk 21 can move by itself, and the connecting arm 20 is slidably engaged with the outer side of the AGV navigation vehicle 1 to ensure the position accuracy of the mobile disk 21, and at the same time the connecting arm 20 can also be released to allow the mobile disk 21 to be separated; the hydraulic rod 9 is used to control the lifting and lowering of the overall mechanical claw 6, and is used to adaptively adjust the height of the middle part of the cloth roll 4 during the rotation of the cloth roll 4.

[0028] The bottom of the support plate 14 is fixedly connected to a plurality of vertically arranged hydraulic rods 5, and the top surface of the mobile base 3 is provided with a sinking groove adapted to the hydraulic rod 2 11, and a lifting platform for controlling the lifting of the hydraulic rod 2 11 is installed in the sinking groove; During operation, in order to improve the stability of the cloth roll 4 during movement, after the end of the supporting roller 5 contacts the supporting plate 14, the hydraulic rod five and the lifting platform are started to allow the supporting plate 14 and the hydraulic rod two 11 to sink as a whole, thereby lowering the height of the cloth roll 4. At the same time, it is ensured that the receiving platform 10 always lifts part of the cloth roll 4. During the sinking process, the mechanical claw 6 still fixes the cloth roll 4, and adapts to the lifting and lowering of the supporting plate 14 through the lifting and lowering of the hydraulic rod one 9.

[0029] A support pad 13 is fixedly connected to the top of the mobile base 3. The support pad 13 is hollow. Two expansion bags 27 are installed in the receiving platform 10 of the mobile base 3. An air pump connected to the support pad 13 and the expansion bag 27 is installed in the mobile base 3. During operation, after the cloth roll 4 falls, the air pump fills gas into the support pad 13 to expand it, and the bottom of the cloth roll 4 finally fits with the support pad 13. At the same time, before the cloth roll 4 contacts, the expansion bag 27 on the top of the receiving platform 10 is filled with air by the air pump to expand it, which is also used to support the cloth roll 4. In this way, the bottom of the cloth roll 4 is supported by elastic contact, reducing the squeezing damage to the cloth roll 4; the bottom of the support pad 13 is a horizontal hard structure, which can always remain horizontal and will not affect the connection between the driving base 2 and the movable base 3.

[0030] Both sides of the top of the receiving platform 10 of the mobile base 3 are rotatably connected with flip covers 28, and the expansion bag 27 is located below the flip cover 28. A horizontally arranged elastic rope is installed in the expansion bag 27; During operation, after the air pump fills the expansion bag 27, the expansion bag 27 will push open the flip cover 28 and expand upward, so that the cloth roll 4 can smoothly contact the expansion bag 27. When the air pump is turned off, the air in the expansion bag 27 is discharged, and an elastic member for resetting is provided between the flip cover 28 and the receiving platform 10. The expansion bag 27 shrinks and shrinks toward the center under the pull of the elastic rope, and then is recovered under the resetting of the flip cover 28, thereby reducing the subsequent impact on the movement of the support roller 5.

[0031] The end of the mobile base 3 away from the docking fork 22 is rotatably connected to the side support platform 12, the outer side of the side support platform 12 is rotatably connected to the roller 26, and the top of the side support platform 12 is inclined; During operation, when the support roller 5 starts to rotate, the end of the support roller 5 will contact the top surface of the side support platform 12, providing support force for the support roller 5 and assisting the rotation process of the support roller 5. When the rotation is completed, as the receiving platform 10 sinks, the side support platform 12 can rotate inward to support the outside of the cloth roll 4, further improving the transfer stability of the cloth roll 4. When the cloth roll 4 is not needed to be supported or transported, the side support platform 12 can rotate outward to allow the roller 26 to contact the ground and guide the forward direction of the mobile base 3; a drive shaft for controlling the rotation of the side support platform 12 is installed on the outside of the mobile base 3.

[0032] During operation, through the setting of the driving base 2 and the mobile base 3, at the beginning, the driving base 2 and the mobile base 3 are spliced ​​with each other and moved to the bottom of the cloth dropping device, waiting for the cloth dropping device to put down the cloth roll 4 and the support roller 5, and the two ends of the support roller 5 are placed on the two receiving platforms 10 of the AGV navigation vehicle 1. Before placement, the hydraulic rod 11 drives the receiving platform 10 to rise to cooperate with the cloth dropping process. After the placement is completed, the hydraulic rod 11 drives the receiving platform 10 to sink, so as to stably receive the cloth roll 4 and the support roller 5. The top of the receiving platform 10 is concave, which can effectively clamp the support roller 5; then Move the mechanical claw 6 to the middle of the cloth roll 4 and grab the middle position of the cloth roll 4. Drive the entire mechanical claw 6 to rotate counterclockwise through the reduction motor 7. At the beginning of rotation, the two ends of the support roller 5 are still maintained above the receiving platform 10. At the same time, the two hydraulic rods 11 are extended and shortened in accordance with the height change of the support roller 5 to assist the rotation process of the support roller 5. Finally, the support roller 5 is rotated until the end of the support roller 5 is separated from the receiving platform 10 and contacts the support plate 14. The support roller 5 is gradually rotated to a vertical state, and part of the bottom of the cloth roll 4 is placed on the receiving platform 10 of the mobile base 3. After that, the mechanical claw 6 can be released from the fixation, or the mechanical claw 6 can be kept in its original state and moved with the mobile base 3 to ensure the stable movement of the cloth roll 4; after that, the mobile base 3 and the driving base 2 are separated from each other, the vertical cloth roll 4 and the support roller 5 are transported, and another mobile base 3 is used to receive the new cloth roll 4 and the support roller 5, and the new mechanical claw 6 is used to adjust the position of the support roller 5 and the cloth roll 4. Through this arrangement, not only the cloth dropping and transportation efficiency is effectively improved, but also the small-volume mobile base 3 plus the vertically placed cloth roll 4 and the support roller 5 reduce The floor space occupied by the AGV 1 is greatly reduced, and the problems of limited movement and limited turning during transportation are greatly reduced. Because the height of the storage warehouse is generally high, there is no need to worry about the problem of height limitation. At the end of transportation, a driving base 2 and a mechanical claw 6 can also be placed to dock with the mobile base 3 and adjust the placement of the cloth roll 4. At the same time, the AGV navigation vehicle 1 can also normally undertake and transport work without being disassembled. Moreover, a hydraulic rod 11 and a receiving platform 10 can be installed on the top surface of the driving base 2, so that the driving base 2 can also be transported independently. The driving base 2 and the mobile base 3 are controlled to move by multiple sets of driving wheels 8; when the mobile base 3 and the driving base 2 are docked, the two docking forks 22 are inserted into the jacks, and then the solenoid valve and the valve hole 23 are used to dock, so as to complete the mutual fixing process of the driving base 2 and the mobile base 3; and when the mobile base 3 moves alone, the docking fork 22 is rotated upward to reduce the floor space of the mobile base 3, and the docking fork 22 bent upward can be attached to the outer side of the cloth roll 4, thereby improving the stability of the cloth roll 4 during transportation; By pulling the steel cable 24, the docking fork 22 is bent from the segmented position, and the end of the docking fork 22 is fitted with the outer side of the cloth roll 4, applying pressure to the outer side of the cloth roll 4, and at the same time, the hydraulic rod 211 on the mobile base 3 pushes the receiving platform 10 upward, and applies an oblique upward supporting force to the bottom of the cloth roll 4, so that the cloth roll 4 is pressed toward the center from both sides by the receiving platform 10 and the docking fork 22, thereby clamping the cloth roll 4. At this time, during the transportation process, the mechanical claw 6 can be excluded, and the mobile base 3 can carry the cloth roll 4 alone for movement; if the cloth roll 4 is of large mass, in order to ensure stability, the mechanical claw 6 can still be involved in the movement; when the mechanical claw 6 is not used, it is only necessary to set the mechanical claw 6 at the starting point and the end point for adjusting the cloth roll 4, which further reduces the floor space occupied during transportation and makes the moving process less restricted by the site, thereby increasing the scope of application and reducing site requirements; The electric winding roller winds up the steel cable 24 to drive the docking fork 22 to rotate. The torsion spring will have a large elastic potential energy only when the angle exceeds 90 degrees, so as to allow the docking fork 22 to quickly return to a horizontal state after the electric winding roller releases the steel cable 24. When grabbing the cloth roll 4, first use the hydraulic rod three 15 to separate the upper binding claw 17 and the lower supporting claw 18, then the hydraulic rod four 16 is extended to move the upper binding claw 17 and the lower supporting claw 18 to the upper and lower positions of the cloth roll 4, and then the hydraulic rod three 15 is used to make the upper binding claw 17 and the lower supporting claw 18 grab the cloth roll 4, and the reduction motor 7 drives the hydraulic rod four 16 to rotate, thereby driving the cloth roll 4 to rotate as a whole, thereby completing the adjustment process of the cloth roll 4. The upper binding claw 17 has a larger curvature and can bind the cloth roll 4 well, while the lower supporting claw 18 has a smaller curvature and is mainly used to support the cloth roll 4. Because the bottom space of the cloth roll 4 is small, in order to allow the lower supporting claw 18 to be pulled out smoothly, a design with a smaller curvature is used; During the cloth dropping process, the driving motor drives the hydraulic rod 9 to rotate, so that the entire mechanical claw 6 is withdrawn from the top of the AGV navigation vehicle 1, so that the cloth roll 4 can be dropped smoothly, and then the mechanical claw 6 is opened first, and then moved to the middle of the cloth roll 4 to clamp and fix it; the bottom of the mobile disk 21 is equipped with an electric wheel, so that the mobile disk 21 can move by itself, and the connecting arm 20 is slidably connected with the outer side of the AGV navigation vehicle 1 to ensure the position accuracy of the mobile disk 21. At the same time, the connecting arm 20 can also be released to allow the mobile disk 21 to be separated; the hydraulic rod 9 is used to control the lifting and lowering of the overall mechanical claw 6, and is used to adaptively adjust the height of the middle part of the cloth roll 4 during the rotation of the cloth roll 4; In order to improve the stability of the cloth roll 4 during the movement, when the end of the support roller 5 contacts the support plate 14, the hydraulic rod 5 and the lifting platform are started to make the support plate 14 and the hydraulic rod 2 11 sink as a whole, reduce the height of the cloth roll 4, and ensure that the receiving platform 10 always lifts part of the cloth roll 4. During the sinking process, the mechanical claw 6 still fixes the cloth roll 4, and the lifting and lowering of the hydraulic rod 1 9 adapts to the lifting and lowering of the support plate 14. When the cloth roll 4 falls, the air pump fills the support pad 13 with gas to expand it, and the bottom of the cloth roll 4 finally fits with the support pad 13. At the same time, before the cloth roll 4 contacts, the expansion bag 27 on the top of the receiving platform 10 is filled with air by the air pump to expand it, which is also used to support the cloth roll 4. In this way, the bottom of the cloth roll 4 is supported by elastic contact, which reduces the squeeze damage to the cloth roll 4. The bottom of the support pad 13 is a horizontal hard structure, which can always remain horizontal and will not affect the connection between the driving base 2 and the moving base 3. After the air pump fills the expansion bag 27, the expansion bag 27 will push the flip cover 28 open and expand upward, so that the cloth roll 4 can smoothly contact the expansion bag 27. When the air pump is turned off, the air in the expansion bag 27 is discharged, and an elastic member for resetting is provided between the flip cover 28 and the receiving platform 10. The expansion bag 27 shrinks and shrinks toward the center under the pulling of the elastic rope, and then is recovered under the resetting of the flip cover 28, reducing the subsequent impact on the movement of the support roller 5. When the support roller 5 starts to rotate, the end of the support roller 5 will contact the top surface of the side support platform 12, providing support force for the support roller 5 and assisting the rotation process of the support roller 5. When the rotation is completed, as the receiving platform 10 sinks, the side support platform 12 can rotate inward to support the outside of the cloth roll 4, further improving the transfer stability of the cloth roll 4. When the cloth roll 4 is not needed to be supported or transported, the side support platform 12 can rotate outward to allow the roller 26 to contact the ground and guide the forward direction of the mobile base 3; a drive shaft for controlling the rotation of the side support platform 12 is installed on the outside of the mobile base 3.

[0033] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A storage warehouse AGV automatic transportation equipment, characterized by: It includes an AGV navigation vehicle, which consists of a driving base and a mobile base. A movable mechanical claw is arranged on one side of the driving base, and a reduction motor capable of lifting and lowering is arranged at the rear end of the mechanical claw. Two symmetrically arranged hydraulic rods 2 are arranged on the top surface of the AGV navigation vehicle, and a receiving platform is fixedly connected to the top of the hydraulic rods 2, and a support plate is arranged on the top of the mobile base.

2. The storage AGV automatic transport equipment according to claim 1 is characterized by: The bottom of the driving base and the mobile base are both equipped with multiple sets of driving wheels. Two rotatable docking forks are fixedly connected to one side of the mobile base close to the driving base. Multiple valve holes are provided on the top surface of the docking fork. The side of the driving base close to the mobile base is provided with a socket compatible with the docking fork, and multiple solenoid valves are installed in the socket.

3. The storage AGV automatic transport equipment according to claim 2 is characterized in that: The docking fork is divided into sections, and two sections of the docking fork are rotatably connected via a rotating shaft. A steel cable that can be pulled and released is connected to the top of a section of the docking fork away from the mobile base.

4. The storage AGV automatic transport equipment according to claim 3 is characterized by: Two electric winding rollers are installed inside the movable base, the outer sides of the electric winding rollers are wound and fixedly connected with steel cables, and a torsion spring is fixedly connected between the rotating shaft and the docking fork.

5. The storage AGV automatic transport equipment according to claim 4 is characterized in that: The mechanical claw consists of an upper binding claw and a lower supporting claw. The middle parts of the upper binding claw and the lower supporting claw are fixedly connected to a horizontally arranged hydraulic rod four, the outer side of the hydraulic rod four is fixedly connected to a vertically arranged hydraulic rod three, and the output end of the reduction motor is fixedly connected to the two hydraulic rods three.

6. The storage AGV automatic transport equipment according to claim 5 is characterized by: A vertically arranged hydraulic rod 1 is fixedly connected to the bottom of the reduction motor, a movable disk is arranged at the bottom of the hydraulic rod 1, a driving motor is installed on the top of the movable disk, an output end of the driving motor is fixedly connected to the hydraulic rod 1, and a connecting arm is connected between the movable disk and the AGV navigation vehicle.

7. The storage AGV automatic transport equipment according to claim 6 is characterized by: A plurality of vertically arranged hydraulic rods 5 are fixedly connected to the bottom of the support plate, a sinking groove adapted to the hydraulic rod 2 is provided on the top surface of the movable base, and a lifting platform for controlling the lifting of the hydraulic rod 2 is installed in the sinking groove.

8. The storage AGV automatic transport equipment according to claim 7 is characterized by: A support pad is fixedly connected to the top of the mobile base, the support pad is hollow, two expansion bags are installed in the receiving platform of the mobile base, and an air pump connected with the support pad and the expansion bag is installed in the mobile base.

9. The storage AGV automatic transport equipment according to claim 8, characterized in that: Both sides of the top of the receiving platform of the mobile base are rotatably connected with flip covers, the expansion bag is located below the flip cover, and a horizontally arranged elastic rope is installed in the expansion bag.

10. The storage AGV automatic transport equipment according to claim 9, characterized in that: One end of the movable base away from the docking fork is rotatably connected to a side support platform, the outer side of the side support platform is rotatably connected to a roller, and the top of the side support platform is inclined.

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