A storage warehouse AGV automated transport device

Abstract

This invention belongs to the field of AGV transportation, specifically a warehouse AGV automated transport device, including an AGV navigation vehicle. The AGV navigation vehicle consists of a drive base and a movable base. A movable mechanical claw is provided on one side of the drive base, and a reduction motor capable of lifting and lowering is provided at the rear end of the mechanical claw. Two symmetrically arranged hydraulic rods are provided on the top surface of the AGV navigation vehicle. Through the configuration of the drive base and the movable base, the mechanical claw moves to the middle of the fabric roll and grasps the middle position of the fabric roll. The reduction motor drives the entire mechanical claw to rotate counterclockwise, rotating the fabric roll to a vertical position. This configuration not only effectively improves the efficiency of fabric unloading and transportation, but also reduces the footprint of the device by using a small movable base with a vertically placed fabric roll and support rollers, greatly reducing problems such as restricted movement and steering during transportation.

Description

Technical Field

[0001] This invention belongs to the field of AGV transportation, specifically a storage warehouse AGV automated transportation device. Background Technology

[0002] Automated Guided Vehicles (AGVs), also known as automated guided vehicles or automated guided transport vehicles, are industrial vehicles that load goods automatically or manually, automatically travel along a set route or tow a cargo trolley to a designated location, and then load and unload goods automatically or manually.

[0003] The characteristics of AGVs include: their running path and destination can be controlled by a management program; they have high mobility; their routes are easily and flexibly changed; they have low setup costs; they have high workstation recognition capabilities and positioning accuracy; and they can coordinate with various processing equipment. With the support of a communication system and the scheduling of a management system, flexible control of logistics can be achieved.

[0004] Traditional AGV transportation equipment is often integrated, requiring a large area when handling large items. However, the large area of ​​the equipment can lead to space limitations during movement and turning. Since a large amount of space in the storage warehouse is usually used for warehousing, providing ample space for movement would significantly reduce the storage capacity.

[0005] Therefore, the present invention provides an automated transport device for storage warehouses using AGV (Automated Guided Vehicle). Summary of the Invention

[0006] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0007] The technical solution adopted by the present invention to solve its technical problem is as follows: The present invention provides a warehouse AGV automatic transportation device, including an AGV navigation vehicle, which is composed of a drive base and a mobile base. A movable mechanical claw is provided on one side of the drive base, and a reduction motor capable of lifting and lowering is provided at the rear end of the mechanical claw. Two symmetrically arranged hydraulic rods are provided on the top surface of the AGV navigation vehicle, and a receiving platform is fixed to the top of the hydraulic rods. A support plate is provided on the top of the mobile base.

[0008] With the drive base and the moving base in place, initially, the drive base and the moving base are spliced ​​together and moved below the fabric dropping device, waiting for the fabric dropping device to lower the fabric roll and support roller. The two ends of the support roller are placed above the two receiving platforms of the AGV navigation vehicle. Before placement, hydraulic rod two drives the receiving platforms to rise, coordinating with the fabric dropping process. After placement, hydraulic rod two drives the receiving platforms to sink, thus stably receiving the fabric roll and support roller. The top of the receiving platform is concave, effectively holding the support roller. Then, the mechanical claw moves to the middle of the fabric roll and grasps the center position. The reduction motor drives the entire mechanical claw to rotate counterclockwise. At the start of rotation, the two ends of the support roller remain above the receiving platforms. Simultaneously, the two hydraulic rods extend and shorten in coordination with the height changes of the support roller, assisting in the rotation process. Finally, the support roller rotates until the end detaches from the receiving platform and contacts the support plate, gradually rotating the support roller to a vertical position, allowing the bottom of the fabric roll to rest on the receiving platform of the moving base. Afterward, the mechanical claw can be released. The fixed position allows the robotic gripper to remain in its original shape and move with the mobile base, ensuring stable movement of the fabric roll. Afterward, the mobile base and drive base separate, transporting the vertically positioned fabric roll and support rollers. Another mobile base is used to receive new fabric rolls and support rollers, while a new robotic gripper adjusts the position of the support rollers and fabric roll. This setup effectively improves fabric unloading and transport efficiency. The small size of the mobile base, combined with the vertically placed fabric rolls and support rollers, reduces its footprint and significantly minimizes movement and turning restrictions during transport. Since storage warehouses typically have high ceilings, height limitations are not a concern. At the transport endpoint, a drive base and robotic gripper can be placed to dock with the mobile base and adjust the fabric roll's position. The AGV can also perform receiving and transport operations without being disassembled. Furthermore, a hydraulic rod and receiving platform can be added to the top of the drive base, allowing it to operate independently.

[0009] Preferably, both the drive base and the movable base are equipped with multiple sets of drive wheels at their bottoms. Two rotatable docking forks are fixed to the side of the movable base near the drive base. Multiple valve holes are opened on the top surface of the docking forks. An insertion hole adapted to the docking forks is opened on the side of the drive base near the movable base. Multiple solenoid valves are installed in the insertion hole. During operation, the drive base and the movable base are moved by controlling the movement of the multiple sets of drive wheels. When the movable base and the drive base dock, the two docking forks are inserted into the insertion hole, and then the solenoid valves are used to dock with the valve holes, completing the mutual fixing process of the drive base and the movable base. During the movement of the movable base alone, the docking forks rotate upwards, reducing the footprint of the movable base. Simultaneously, the upward-bending docking forks can fit against the outside of the fabric roll, improving the stability of the fabric roll during transportation.

[0010] Preferably, the connecting fork is segmented, with the two segments rotatably connected by a pivot. The top of the segment furthest from the movable base is connected to a steel cable that can be pulled and released. During operation, by pulling the steel cable, the connecting fork bends from the segmented position, and the end of the connecting fork fits against the outer side of the fabric roll, applying pressure to the outer side of the fabric roll. At the same time, the hydraulic rod on the movable base lifts the receiving platform upward, applying an upward support force to the bottom of the fabric roll, so that the fabric roll is pressed from both sides towards the center by the receiving platform and the connecting fork, thereby clamping the fabric roll. In this case, the mechanical claw can be removed during transportation, and the movable base can carry the fabric roll alone. If the fabric roll is large, the mechanical claw can still be involved in the movement to ensure stability. In cases where the mechanical claw is not used, mechanical claws only need to be set at the starting and ending points for adjusting the fabric roll, further reducing the floor space occupied during transportation, making the movement process more unrestricted by the site, thereby increasing the scope of application and reducing site requirements.

[0011] Preferably, the movable base is equipped with two electric winding rollers. The outer side of the electric winding rollers is wound and fixed to the steel cable. A torsion spring is fixed between the rotating shaft and the docking fork. During operation, the electric winding rollers wind up the steel cable, which drives the docking fork to rotate. The torsion spring will have a large elastic potential energy after the angle exceeds 90 degrees. This energy is used to allow the docking fork to quickly return to a horizontal position after the electric winding rollers release the steel cable.

[0012] Preferably, the mechanical claw consists of an upper restraining claw and a lower supporting claw. A horizontally arranged hydraulic rod four is fixedly connected to the middle of both the upper restraining claw and the lower supporting claw. A vertically arranged hydraulic rod three is fixedly connected to the outer side of the hydraulic rod four. The output end of the reduction motor is fixedly connected to the two hydraulic rods three. During operation, when gripping the fabric roll, the hydraulic rods three first separate the upper restraining claw and the lower supporting claw. Then, the hydraulic rod four extends, moving the upper restraining claw and the lower supporting claw to the upper and lower positions of the fabric roll. Then, the hydraulic rods three allow the upper restraining claw and the lower supporting claw to grasp the fabric roll. The reduction motor drives the hydraulic rod four to rotate, thereby rotating the entire fabric roll, thus completing the adjustment process. The upper restraining claw has a larger arc, which can effectively restrain the fabric roll, while the lower supporting claw has a smaller arc, mainly used to support the fabric roll. Because the bottom space of the fabric roll is small, a smaller arc design is used to allow the lower supporting claw to be pulled out smoothly.

[0013] Preferably, a vertically arranged hydraulic rod is fixedly connected to the bottom of the reduction motor. A movable disk is provided at the bottom of the hydraulic rod, and a drive motor is installed at the top of the movable disk. The output end of the drive motor is fixedly connected to the hydraulic rod. A connecting arm connects the movable disk and the AGV navigation vehicle. During operation, the drive motor drives the hydraulic rod to rotate during the fabric unloading process, thereby allowing the entire mechanical claw to be removed from above the AGV navigation vehicle, so that the fabric roll can be unloaded smoothly. Then, the mechanical claw is first opened and then moved to the middle of the fabric roll for clamping and fixing. An electric wheel is installed at the bottom of the movable disk, allowing the movable disk to move on its own. The connecting arm slides and engages with the outside of the AGV navigation vehicle to ensure the positioning accuracy of the movable disk. At the same time, the connecting arm can also be released to allow the movable disk to separate. The hydraulic rod is used to control the lifting and lowering of the entire mechanical claw and to adaptively adjust the height of the middle of the fabric roll during the rotation of the fabric roll.

[0014] Preferably, the bottom of the support plate is fixed with multiple vertically arranged hydraulic rods five, and the top surface of the movable base is provided with a sinking groove adapted to the hydraulic rods two. A lifting platform for controlling the lifting and lowering of the hydraulic rods two is installed in the sinking groove. During operation, in order to improve the stability of the fabric roll during movement, when the end of the support roller contacts the support plate, the hydraulic rods five and the lifting platform are activated, so that the support plate and the hydraulic rods two sink as a whole, reducing the height of the fabric roll. At the same time, it is ensured that the receiving platform always supports part of the fabric roll. During the sinking process, the mechanical claw still fixes the fabric roll. The lifting and lowering of the hydraulic rods one adapts to the lifting and lowering of the support plate.

[0015] Preferably, a support pad is fixed to the top of the movable base. The support pad is hollow. Two expansion bladders are installed in the receiving platform of the movable base. An air pump connected to the support pad and expansion bladders is installed in the movable base. During operation, when the fabric roll falls, the air pump fills the support pad with gas to inflate it, and the bottom of the fabric roll finally comes into contact with the support pad. At the same time, before the fabric roll makes contact, the expansion bladders at the top of the receiving platform are filled with air by the air pump to inflate them, which also supports the fabric roll. In this way, the bottom of the fabric roll is supported by elastic contact, reducing the squeezing damage to the fabric roll. The bottom of the support pad is a horizontal rigid structure, which can always remain horizontal and will not affect the connection between the drive base and the movable base.

[0016] Preferably, the top two sides of the receiving platform of the movable base are rotatably connected to flip covers, and the expansion bladder is located below the flip covers. A horizontally arranged elastic rope is installed in the expansion bladder. During operation, after the air pump fills the expansion bladder, the expansion bladder will push open the flip cover and expand upward, allowing the fabric roll to smoothly contact the expansion bladder. When the air pump is turned off, the air in the expansion bladder is released, and an elastic element for resetting is provided between the flip cover and the receiving platform. The expansion bladder shrinks and shrinks towards the center under the pull of the elastic rope. Then it is retracted under the resetting of the flip cover, reducing the subsequent impact on the movement of the support roller.

[0017] Preferably, the movable base is rotatably connected to a side support platform at the end away from the docking fork. A roller is rotatably connected to the outer side of the side support platform. 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 to provide support force to the support roller and assist in the rotation process of the support roller. When the rotation ends, as the receiving platform sinks, the side support platform can rotate inward to support the outer side of the fabric roll, further improving the transfer stability of the fabric roll. When support is not needed or the fabric roll is not being 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 drive shaft for controlling the rotation of the side support platform is installed on the outer side of the movable base.

[0018] The beneficial effects of this invention are as follows:

[0019] 1. The automated guided vehicle (AGV) for warehouse storage described in this invention, through the configuration of a drive base and a movable base, features a concave top on the receiving platform, which effectively holds the support roller. The mechanical claw then moves to the center of the fabric roll and grasps the middle position. A reduction motor drives the entire mechanical claw to rotate counter-clockwise. At the start of the rotation, both ends of the support roller remain above the receiving platform. Simultaneously, two hydraulic rods extend and shorten in response to changes in the height of the support roller, assisting in the rotation process. Finally, the rotation continues until the ends of the support roller disengage from the receiving platform and contact the support plate. Gradually rotate the support roller to a vertical position, and place the bottom of the fabric roll on the receiving platform of the moving base. Then, the moving base and the drive base separate, transporting the vertically positioned fabric roll and support roller. Another moving base is used to receive new fabric rolls and support rollers. At the same time, a new mechanical claw is used to adjust the position of the support rollers and fabric rolls. This setup not only effectively improves the efficiency of fabric unloading and transportation, but also reduces the footprint of the moving base and the vertically placed fabric rolls and support rollers, greatly reducing problems such as restricted movement and turning during transportation.

[0020] 2. The automated storage and retrieval vehicle (AGV) of the present invention controls the movement of a drive base and a movable base through multiple sets of drive wheels. When the movable base and the drive base are docked, two docking forks are inserted into the insertion holes, and then a solenoid valve is used to dock with the valve hole to complete the mutual fixing process of the drive base and the movable base. During the movement of the movable base alone, the docking forks are rotated upward to reduce the floor space occupied by the movable base. At the same time, the upward-bent docking forks can fit against the outside of the fabric roll, improving the stability of the fabric roll during transportation. Attached Figure Description

[0021] The invention will now be further described with reference to the accompanying drawings.

[0022] Figure 1This is a perspective view of the present invention;

[0023] Figure 2 This is a perspective view of the drive base and the movable base of the present invention;

[0024] Figure 3 This is a perspective view of the mechanical gripper of the present invention;

[0025] Figure 4 This is a perspective view of the movable base and docking fork of the present invention;

[0026] Figure 5 This is a perspective view of the movable base of the present invention;

[0027] Figure 6 This is a perspective view of the receiving platform of the present invention;

[0028] In the diagram: 1. AGV navigation vehicle; 2. Drive base; 3. Moving base; 4. Fabric roll; 5. Support roller; 6. Mechanical claw; 7. Gear motor; 8. Drive 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. Moving plate; 22. Connecting fork; 23. Valve hole; 24. Steel cable; 25. Rotating shaft; 26. Roller; 27. Expansion bladder; 28. Flip cover. Detailed Implementation

[0029] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0030] like Figures 1 to 6 As shown in the figure, an automated guided vehicle (AGV) for a storage warehouse according to an embodiment of the present invention includes an AGV navigation vehicle 1. The AGV navigation vehicle 1 consists of a drive base 2 and a movable base 3. A movable mechanical claw 6 is provided on one side of the drive base 2. A reduction motor 7 capable of lifting and lowering is provided at the rear end of the mechanical claw 6. Two symmetrically arranged hydraulic rods 11 are provided on the top surface of the AGV navigation vehicle 1. A receiving platform 10 is fixed to the top of the hydraulic rods 11. A support plate 14 is provided on the top of the movable base 3.

[0031] With the setup of drive base 2 and movable base 3, initially, drive base 2 and movable base 3 are spliced ​​together and moved to below the fabric dropping device, waiting for the fabric dropping device to lower the fabric roll 4 and support roller 5. The fabric dropping device is a device that places the finished fabric outside the support roller 5 while controlling the movement of the support roller 5; this type of 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, hydraulic rod 2 11 drives the receiving platform 10 to rise, coordinating with the fabric dropping process. After placement, hydraulic rod 2 11 drives the receiving platform 10 to sink, thereby stabilizing the receiving... The fabric roll 4 and support roller 5 are held together. The top of the receiving platform 10 is concave, which can effectively hold the support roller 5. Then, the mechanical claw 6 is moved to the middle of the fabric roll 4 and grasps the middle position of the fabric roll 4. The reduction motor 7 drives the entire mechanical claw 6 to rotate counterclockwise. At the beginning of the 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 coordinated with the height change of the support roller 5 to extend and shorten, assisting 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, and the support roller 5 is gradually rotated to a vertical position. The bottom of the fabric roll 4 is placed on the receiving platform 10 of the movable base 3. The mechanical claw 6 can then be released, or it can remain in place and move with the movable base 3 to ensure stable movement of the fabric roll 4. Afterwards, the movable base 3 and the drive base 2 separate, transporting the vertically positioned fabric roll 4 and support roller 5. A new movable base 3 is used to receive a new fabric roll 4 and support roller 5, while a new mechanical claw 6 is used to adjust the position of the support roller 5 and fabric roll 4. This setup effectively improves fabric unloading and transport efficiency, and the compact movable base 3, combined with the vertical placement... The placement of the fabric roll 4 and support roller 5 reduces its floor space and greatly reduces problems such as movement and turning restrictions during transportation. Since the storage warehouse is generally high, there is no need to worry about height restrictions. At the end of the transportation, a drive base 2 and a mechanical claw 6 can be placed to dock with the mobile base 3 and adjust the placement of the fabric roll 4. At the same time, the AGV navigation vehicle 1 can carry out normal receiving and transportation work without being disassembled. Moreover, a hydraulic rod 2 11 and a receiving platform 10 can be installed on the top surface of the drive base 2, allowing the drive base 2 to carry out transportation work independently.

[0032] Multiple sets of drive wheels 8 are installed at the bottom of both the drive base 2 and the movable base 3. Two rotatable docking forks 22 are fixed to the side of the movable base 3 near the drive base 2. Multiple valve holes 23 are opened on the top surface of the docking forks 22. A socket adapted to the docking forks 22 is opened on the side of the drive base 2 near the movable base 3. Multiple solenoid valves are installed in the socket.

[0033] During operation, the drive base 2 and the movable base 3 are moved by multiple sets of drive wheels 8. When the movable base 3 and the drive base 2 are docked, the two docking forks 22 are inserted into the sockets, and then the solenoid valve is docked with the valve hole 23 to complete the mutual fixation process of the drive base 2 and the movable base 3. When the movable base 3 moves alone, the docking forks 22 are rotated upward to reduce the floor space occupied by the movable base 3. At the same time, the bent upward docking forks 22 can fit against the outside of the fabric roll 4, which improves the stability of the fabric roll 4 during transportation.

[0034] The docking fork 22 is segmented, and the two segments of docking fork 22 are rotatably connected by a pivot 25. The top of the segment of docking fork 22 away from the movable base 3 is connected to a steel cable 24 that can be pulled and released.

[0035] During operation, the steel cable 24 is pulled, causing the connecting fork 22 to bend from the segmented position. The end of the connecting fork 22 fits against the outer side of the fabric roll 4, applying pressure to the outer side of the fabric roll 4. At the same time, the hydraulic rod 11 on the moving base 3 lifts the receiving platform 10 upward, applying an upward support force to the bottom of the fabric roll 4. This causes the fabric roll 4 to be pressed from both sides towards the center by the receiving platform 10 and the connecting fork 22, thus clamping the fabric roll 4. During transportation, the mechanical claw 6 can be removed, and the moving base 3 can carry the fabric roll 4 alone. If the fabric roll 4 is heavy, the mechanical claw 6 can still be used to ensure stability. When the mechanical claw 6 is not used, it can be set at the starting and ending points for adjusting the fabric roll 4. This further reduces the floor space occupied during transportation, making the movement more unrestricted by the site, thereby increasing the applicability and reducing site requirements.

[0036] The movable base 3 has two electric winding rollers installed inside. The outer side of the electric winding rollers is wound and fixed to the steel cable 24. A torsion spring is fixed between the rotating shaft 25 and the docking fork 22.

[0037] During operation, the electric take-up roller winds up the steel cable 24, which drives the docking fork 22 to rotate. The torsion spring will only have a large elastic potential energy after the angle exceeds ninety degrees, which is used to allow the docking fork 22 to quickly return to the horizontal position after the electric take-up roller releases the steel cable 24.

[0038] The mechanical claw 6 consists of an upper restraining claw 17 and a lower supporting claw 18. A horizontally arranged hydraulic rod four 16 is fixedly connected to the middle of the upper restraining claw 17 and the lower supporting claw 18. A vertically arranged hydraulic rod three 15 is fixedly connected to the outside of the hydraulic rod four 16. The output end of the reduction motor 7 is fixedly connected to the two hydraulic rod three 15.

[0039] During operation, when gripping the fabric roll 4, the upper restraining claw 17 and the lower supporting claw 18 are first separated using hydraulic rod three 15. Then, hydraulic rod four 16 extends, allowing the upper restraining claw 17 and the lower supporting claw 18 to move to the upper and lower positions of the fabric roll 4. After that, the upper restraining claw 17 and the lower supporting claw 18 are gripped by the upper restraining claw 17 and the lower supporting claw 18 again using hydraulic rod three 15. The reduction motor 7 drives the hydraulic rod four 16 to rotate, thereby driving the fabric roll 4 to rotate as a whole, thus completing the adjustment process of the fabric roll 4. The upper restraining claw 17 has a larger arc, which can effectively restrain the fabric roll 4, while the lower supporting claw 18 has a smaller arc and is mainly used to support the fabric roll 4. Because the bottom space of the fabric roll 4 is small, a design with a smaller arc is used to allow the lower supporting claw 18 to be pulled out smoothly.

[0040] The bottom of the reduction motor 7 is fixedly connected to a vertically arranged hydraulic rod 9. A movable disk 21 is provided at the bottom of the hydraulic rod 9. A drive motor is installed at the top of the movable disk 21. The output end of the drive motor is fixedly connected to the hydraulic rod 9. A connecting arm 20 is connected between the movable disk 21 and the AGV navigation vehicle 1.

[0041] During operation, the drive motor rotates the hydraulic rod 9 during the fabric unloading process, allowing the entire mechanical claw 6 to detach from above the AGV navigation vehicle 1, ensuring smooth fabric unloading of the fabric roll 4. The mechanical claw 6 is then opened and moved to the center of the fabric roll 4 for clamping and securing. The bottom of the moving plate 21 is equipped with electric wheels, allowing it to move independently. The connecting arm 20 slides and engages with the outer side of the AGV navigation vehicle 1, ensuring the accurate positioning of the moving plate 21. Simultaneously, the connecting arm 20 can be released, allowing the moving plate 21 to separate. The hydraulic rod 9 controls the lifting and lowering of the entire mechanical claw 6, adaptively adjusting the height of the center of the fabric roll 4 during its rotation.

[0042] The bottom of the support plate 14 is fixed with multiple vertically arranged hydraulic rods 5. The top surface of the movable base 3 is provided with a sinking groove adapted to the hydraulic rod 2 11. A lifting platform for controlling the lifting and lowering of the hydraulic rod 2 11 is installed in the sinking groove.

[0043] During operation, in order to improve the stability of the fabric roll 4 during movement, after the end of the support roller 5 contacts the support plate 14, the hydraulic rod 5 and the lifting platform are activated to lower the support plate 14 and the hydraulic rod 2 11 as a whole, reducing the height of the fabric roll 4. At the same time, the receiving platform 10 always supports part of the fabric roll 4. During the lowering process, the mechanical claw 6 still fixes the fabric roll 4. The lifting and lowering of the hydraulic rod 1 9 adapts to the lifting and lowering of the support plate 14.

[0044] The top of the movable base 3 is fixed with a support pad 13, which is hollow. Two expansion bladders 27 are installed in the receiving platform 10 of the movable base 3. An air pump connected to the support pad 13 and the expansion bladders 27 is installed in the movable base 3.

[0045] During operation, after the fabric roll 4 falls, the air pump fills the support pad 13 with gas to make it expand, and the bottom of the fabric roll 4 finally fits into the support pad 13. At the same time, before the fabric roll 4 makes contact, the expansion bladder 27 on the top of the receiving platform 10 is filled with air by the air pump to make it expand, which is also used to support the fabric roll 4. In this way, the bottom of the fabric roll 4 is supported by elastic contact, reducing the squeezing damage to the fabric roll 4. The bottom of the support pad 13 is a horizontal rigid structure, which can always remain horizontal and will not affect the connection between the drive base 2 and the moving base 3.

[0046] The top two sides of the receiving platform 10 of the mobile base 3 are rotatably connected to the flip cover 28, the expansion bladder 27 is located below the flip cover 28, and a horizontally arranged elastic rope is installed in the expansion bladder 27.

[0047] During operation, after the air pump fills the expansion bladder 27, the expansion bladder 27 will push open the flip cover 28 and expand upward, allowing the fabric roll 4 to smoothly contact the expansion bladder 27. When the air pump is turned off, the air in the expansion bladder 27 is released. An elastic element for resetting is provided between the flip cover 28 and the receiving platform 10. The expansion bladder 27 shrinks and shrinks towards the center under the pull of the elastic rope. Then it is retracted under the resetting of the flip cover 28, reducing the subsequent impact on the movement of the support roller 5.

[0048] The movable base 3 is rotatably connected to a side support platform 12 at the end away from the docking fork 22. A roller 26 is rotatably connected to the outer side of the side support platform 12. The top of the side support platform 12 is inclined.

[0049] 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 to the support roller 5 and assisting in the rotation process of the support roller 5. After the rotation ends, as the receiving platform 10 sinks, the side support platform 12 can rotate inward to support the outer side of the fabric roll 4, further improving the transfer stability of the fabric roll 4. When support is not needed or the fabric roll 4 is not being 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 moving base 3. A drive shaft for controlling the rotation of the side support platform 12 is installed on the outer side of the moving base 3.

[0050] During operation, the drive base 2 and the movable base 3 are initially connected and moved below the fabric dropping device. The device lowers the fabric roll 4 and support roller 5, placing both ends of the support roller 5 above the two receiving platforms 10 of the AGV navigation vehicle 1. Before placement, hydraulic rod 11 raises the receiving platforms 10 to coordinate with the fabric dropping process. After placement, hydraulic rod 11 lowers the receiving platforms 10 to stably hold the fabric roll 4 and support roller 5. The top of the receiving platform 10 is concave, effectively securing the support roller 5. Afterwards... The mechanical claw 6 is moved to the middle of the fabric roll 4 and grips the center of the fabric roll 4. The reduction motor 7 drives the entire mechanical claw 6 to rotate counterclockwise. At the beginning of the rotation, both ends of the support roller 5 remain above the receiving platform 10. At the same time, the two hydraulic rods 11 extend and shorten in coordination with the height change of the support roller 5 to assist in the rotation process. Finally, the support roller 5 rotates until the end of the support roller 5 disengages from the receiving platform 10 and contacts the support plate 14. The support roller 5 is then gradually rotated to a vertical position, and the bottom part of the fabric roll 4 is placed on the receiving platform 10 of the movable base 3. Afterwards, the mechanical claw 6 can be released from its fixed position, or it can remain in its original state and move with the moving base 3 to ensure the stable movement of the fabric roll 4. Then, the moving base 3 and the drive base 2 separate, transporting the vertically positioned fabric roll 4 and support roller 5. A new moving base 3 is used to receive new fabric rolls 4 and support rollers 5, while a new mechanical claw 6 is used to adjust the position of the support rollers 5 and fabric roll 4. This setup not only effectively improves the efficiency of fabric unloading and transport, but also reduces the need for heavy lifting due to the small size of the moving base 3 and the vertically placed fabric roll 4 and support roller 5. This design minimizes the footprint of the storage unit and significantly reduces issues such as movement and turning restrictions during transportation. Since the storage unit typically has a high ceiling, there is no need to worry about height limitations. At the transportation endpoint, a drive base 2 and a mechanical claw 6 can be placed to dock with the mobile base 3 and adjust the placement of the fabric roll 4. The AGV navigation vehicle 1 can also perform receiving and transportation tasks without being disassembled. Furthermore, a hydraulic rod 11 and a receiving platform 10 can be added to the top surface of the drive base 2, allowing the drive base 2 to perform transportation tasks independently.

[0051] The drive base 2 and the movable base 3 are moved by multiple sets of drive wheels 8. When the movable base 3 and the drive base 2 are docked, the two docking forks 22 are inserted into the sockets. Then, the solenoid valve is docked with the valve hole 23 to complete the mutual fixation process of the drive base 2 and the movable base 3. When the movable base 3 moves alone, the docking forks 22 are rotated upward to reduce the floor space occupied by the movable base 3. At the same time, the bent upward docking forks 22 can fit against the outside of the fabric roll 4, which improves the stability of the fabric roll 4 during transportation.

[0052] By pulling the steel cable 24, the connecting fork 22 is bent from the segmented position, and the end of the connecting fork 22 fits against the outside of the fabric roll 4, applying pressure to the outside of the fabric roll 4. At the same time, the hydraulic rod 11 on the moving base 3 lifts the receiving platform 10 upward, applying an upward support force to the bottom of the fabric roll 4, so that the fabric roll 4 is pressed from both sides towards the center by the receiving platform 10 and the connecting fork 22, thereby clamping the fabric roll 4. At this time, during transportation, the mechanical claw 6 can be removed and the moving base 3 can carry the fabric roll 4 alone. If the fabric roll 4 is heavy, the mechanical claw 6 can still be used to move it to ensure stability. When the mechanical claw 6 is not used, it is only necessary to set the mechanical claw 6 at the starting point and the ending point for adjusting the fabric roll 4, which further reduces the floor space occupied during transportation, makes the movement process more unrestricted by the site, thereby improving the scope of application and reducing the site requirements.

[0053] The electric take-up roller winds up the steel cable 24, which drives the docking fork 22 to rotate. The torsion spring will have a large elastic potential energy after the angle exceeds ninety degrees, which is used to allow the docking fork 22 to quickly return to the horizontal position after the electric take-up roller releases the steel cable 24.

[0054] When gripping the fabric roll 4, the upper restraining claw 17 and the lower supporting claw 18 are first separated using the hydraulic rod three 15. Then, the hydraulic rod four 16 extends to move the upper restraining claw 17 and the lower supporting claw 18 to the upper and lower positions of the fabric roll 4. Then, the upper restraining claw 17 and the lower supporting claw 18 are gripped by the hydraulic rod three 15. The reduction motor 7 drives the hydraulic rod four 16 to rotate, thereby driving the fabric roll 4 to rotate as a whole, thus completing the adjustment process of the fabric roll 4. The upper restraining claw 17 has a larger arc, which can effectively restrain the fabric roll 4, while the lower supporting claw 18 has a smaller arc and is mainly used to support the fabric roll 4. Because the bottom space of the fabric roll 4 is small, a design with a smaller arc is used so that the lower supporting claw 18 can be pulled out smoothly.

[0055] During the fabric unloading process, the drive motor rotates the hydraulic rod 9, causing the entire mechanical claw 6 to detach from above the AGV navigation vehicle 1, allowing the fabric roll 4 to be unloaded smoothly. The mechanical claw 6 is then opened and moved to the center of the fabric roll 4 for clamping and securing. The bottom of the moving plate 21 is equipped with electric wheels, allowing it to move independently. The connecting arm 20 slides and engages with the outer side of the AGV navigation vehicle 1, ensuring the accurate positioning of the moving plate 21. Simultaneously, the connecting arm 20 can be released, allowing the moving plate 21 to separate. The hydraulic rod 9 controls the lifting and lowering of the entire mechanical claw 6, adaptively adjusting the height of the center of the fabric roll 4 during its rotation.

[0056] To improve the stability of the fabric roll 4 during movement, after the end of the support roller 5 contacts the support plate 14, the hydraulic rod 5 and the lifting platform are activated to lower the support plate 14 and the hydraulic rod 2 11 as a whole, reducing the height of the fabric roll 4. At the same time, the receiving platform 10 always supports part of the fabric roll 4. During the lowering process, the mechanical claw 6 still fixes the fabric roll 4. The lifting and lowering of the hydraulic rod 1 9 adapts to the lifting and lowering of the support plate 14.

[0057] After the fabric roll 4 falls, the air pump fills the support pad 13 with gas to make it expand, and the bottom of the fabric roll 4 finally fits into the support pad 13. At the same time, before the fabric roll 4 makes contact, the expansion bladder 27 on the top of the receiving platform 10 is filled with air by the air pump to make it expand, which is also used to support the fabric roll 4. In this way, the bottom of the fabric roll 4 is supported by elastic contact, which reduces the squeezing damage to the fabric roll 4. The bottom of the support pad 13 is a horizontal rigid structure, which can always remain horizontal and will not affect the connection between the drive base 2 and the moving base 3.

[0058] After the air pump fills the expansion bladder 27, the expansion bladder 27 will push open the flip cover 28 and expand upward, allowing the fabric roll 4 to smoothly contact the expansion bladder 27. When the air pump is turned off, the air in the expansion bladder 27 is released. An elastic element for resetting is provided between the flip cover 28 and the receiving platform 10. The expansion bladder 27 shrinks and shrinks towards the center under the pull of the elastic rope. Then it is retracted under the resetting of the flip cover 28, reducing the subsequent impact on the movement of the support roller 5.

[0059] 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 to the support roller 5 and assisting the rotation process of the support roller 5. When the rotation ends, as the receiving platform 10 sinks, the side support platform 12 can rotate inward to support the outer side of the fabric roll 4, further improving the transfer stability of the fabric roll 4. When support is not needed or the fabric roll 4 is not being 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 moving base 3. A drive shaft for controlling the rotation of the side support platform 12 is installed on the outer side of the moving base 3.

[0060] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A warehouse AGV automated transport device, characterized in that: The AGV navigation vehicle consists of a drive base and a mobile base. A movable mechanical claw is provided on one side of the drive base, and a reduction motor capable of lifting is provided at the rear end of the mechanical claw. Two symmetrically arranged hydraulic rods are provided on the top surface of the AGV navigation vehicle, and a support platform is fixed to the top of the hydraulic rods. A support plate is provided on the top of the mobile base. Multiple sets of drive wheels are installed at the bottom of both the drive base and the movable base. Two rotatable docking forks are fixed to the side of the movable base near the drive base. Multiple valve holes are opened on the top surface of the docking forks. An insertion hole adapted to the docking forks is opened on the side of the drive base near the movable base. Multiple solenoid valves are installed in the insertion hole. The docking fork is segmented, and the two segments are rotatably connected by a pivot. The top of the segment of the docking fork away from the movable base is connected to a steel cable that can be pulled and released. The movable base is equipped with two electric winding rollers. The outer side of the electric winding rollers is wound and fixed to a steel cable. A torsion spring is fixed between the rotating shaft and the docking fork. The mechanical gripper consists of an upper restraining gripper and a lower supporting gripper. A horizontally arranged hydraulic rod four is fixedly connected to the middle of both the upper restraining gripper and the lower supporting gripper. A vertically arranged hydraulic rod three is fixedly connected to the outer side of the hydraulic rod four. The output end of the reduction motor is fixedly connected to the two hydraulic rod threes.

2. The automated storage and retrieval vehicle (AGV) for a storage facility according to claim 1, characterized in that: A vertically arranged hydraulic rod is fixedly connected to the bottom of the geared motor. A movable disk is provided at the bottom of the hydraulic rod. A drive motor is installed on the top of the movable disk. The output end of the drive motor is fixedly connected to the hydraulic rod. A connecting arm connects the movable disk to the AGV navigation vehicle.

3. The automated storage and retrieval vehicle (AGV) for a storage facility according to claim 2, characterized in that: The bottom of the support plate is fixed with multiple vertically arranged hydraulic rods five. The top surface of the movable base is provided with a recessed groove adapted to the hydraulic rods two. A lifting platform for controlling the lifting and lowering of the hydraulic rods two is installed in the recessed groove.

4. The automated storage and retrieval vehicle (AGV) for a storage facility according to claim 3, characterized in that: A support pad is fixed to the top of the movable base. The support pad is hollow. Two expansion bladders are installed in the receiving platform of the movable base. An air pump connected to the support pad and the expansion bladders is installed in the movable base.

5. The automated storage and retrieval vehicle (AGV) for a storage facility according to claim 4, characterized in that: The top two sides of the receiving platform of the mobile base are rotatably connected to flip-top covers, and the expansion bladder is located below the flip-top covers. A horizontally arranged elastic rope is installed in the expansion bladder.

6. The automated storage and retrieval vehicle (AGV) for a storage facility according to claim 5, characterized in that: The movable base is rotatably connected to a side support at the end away from the docking fork, and a roller is rotatably connected to the outer side of the side support. The top of the side support is inclined.

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