AGV (Automatic Guided Vehicle) stacking machine for loading and unloading carrying of flexible machining production line

Abstract

The invention discloses an AGV stacking machine for feeding and discharging carrying of a flexible machining production line, and relates to the technical field of AGVs, the AGV stacking machine for feeding and discharging carrying of the flexible machining production line comprises an AGV chassis and a stacking device; the stacking device comprises a device shell, a lifting mechanism and a telescopic mechanism, the device shell is installed at the top end of the AGV chassis, the lifting mechanism is arranged in the device shell, and the telescopic mechanism is arranged on the lifting mechanism; the lifting mechanism is used for driving the telescopic mechanism to ascend and descend on the device shell, and the telescopic mechanism is used for containing goods and feeding and discharging the goods to a preset position. According to the technical scheme, the AGV stacking machine for feeding and discharging carrying of the flexible machining production line can not only carry goods, but also feed and discharge the goods, and therefore the working efficiency of goods stacking of the AGV stacking machine for feeding and discharging carrying of the flexible machining production line is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV vehicles, and particularly to an AGV stacker for loading and unloading and transporting materials on a flexible machining production line. Background Art

[0002] In modern flexible machining production lines, the demand for automated logistics operations is increasing day by day to improve production efficiency and reduce labor costs. Although existing AGV vehicles can move the goods placed on them, there is a significant limitation that the AGV vehicles themselves do not have the function of loading and unloading goods. This means that in order to transport the goods to the destination position, the AGV vehicle must be used in conjunction with another loading and unloading mechanism. This separate operation mode not only increases the complexity of the system but also results in a reduction in work efficiency. Summary of the Invention

[0003] The main object of the present invention is to propose an AGV stacker for loading and unloading and transporting materials on a flexible machining production line, aiming to not only transport goods but also load and unload goods, thereby improving the work efficiency of stacking goods by the AGV stacker for loading and unloading and transporting materials on a flexible machining production line.

[0004] To achieve the above object, the present invention proposes an AGV stacker for loading and unloading and transporting materials on a flexible machining production line, and the AGV stacker for loading and unloading and transporting materials on a flexible machining production line includes: An AGV chassis; And a stacking device, the stacking device includes a device housing, a lifting mechanism and a telescopic mechanism. The device housing is installed at the top of the AGV chassis. The lifting mechanism is arranged in the device housing, and the telescopic mechanism is arranged on the lifting mechanism. The lifting mechanism is used to drive the telescopic mechanism to move up and down in the device housing, and the telescopic mechanism is used to place goods and load and unload the goods to a preset position.

[0005] In one embodiment, the lifting mechanism includes: At least two lifting electric cylinders, and the two lifting electric cylinders are arranged in the device housing; A lifting frame, and the lifting frame is connected to the lifting electric cylinders; And a loading platform, and the loading platform is connected to the lifting frame; Wherein, the two lifting electric cylinders drive the lifting frame to drive the loading platform to move up and down in the device housing.

[0006] In one embodiment, the lifting electric cylinder includes: An electric cylinder housing, and the electric cylinder housing is arranged in the device housing; A driving motor, and the driving motor is arranged in the electric cylinder housing; A lead screw, which is rotatably connected inside the electric cylinder housing and is in transmission connection with the driving motor; an inner nut is rotatably connected outside the lead screw; and a piston rod, which is connected to the inner nut and is connected to the lifting frame.

[0007] In one embodiment, the lifting frame includes: At least four support arms, two of which are slidably connected to one side of the device housing, and the remaining two support arms are slidably connected to the other side of the device housing; and a top plate, which is connected to the four support arms and encloses a lifting space with the four support arms.

[0008] In one embodiment, the top plate is provided with an avoidance opening for avoiding the goods placed on the telescopic mechanism.

[0009] In one embodiment, the telescopic mechanism is a telescopic fork structure, and the telescopic fork structure includes: Two lower fork arms, which are fixed on the loading platform and are arranged at intervals; Two middle fork arms, each of which is slidably connected to one of the lower fork arms; Two upper fork arms, each of which is slidably connected to one of the middle fork arms; A first telescopic driving motor, which is arranged on the loading platform and is in transmission connection with the two middle fork arms for driving the middle fork arms to move on the loading platform; and a second telescopic driving motor, which is arranged on one of the middle fork arms and is in transmission connection with the two upper fork arms for driving the upper fork arms to move on the middle fork arms.

[0010] In one embodiment, the AGV stacker for loading and unloading and transporting on a flexible machining production line further includes a central control rotating platform arranged on the AGV chassis, and the central control rotating platform is in transmission connection with the device housing to drive the stacking device to rotate relative to the AGV chassis.

[0011] In one embodiment, the AGV stacker for loading and unloading and transporting on a flexible machining production line further includes a rotation sensor arranged on the AGV chassis, and the rotation sensor is used to detect the rotation angle of the central control rotating platform.

[0012] In one embodiment, the AGV stacker for loading and unloading in a flexible machining production line further includes at least four laser obstacle avoidance sensors. The four laser obstacle avoidance sensors are all arranged on the outer side wall of the AGV chassis and are spaced around the periphery of the AGV chassis; the laser obstacle avoidance sensors are used to detect and avoid obstacles.

[0013] In one embodiment, a plurality of positioning blocks are further arranged on the outer side wall of the AGV chassis. The plurality of positioning blocks are spaced around the periphery of the AGV chassis; each positioning block is provided with a positioning pin hole, and the positioning pin hole is used for mating and plugging with the side positioning shaft of the machine tool for positioning.

[0014] The AGV stacker for loading and unloading in a flexible machining production line according to the technical solution of the present invention includes an AGV chassis and a stacking device. The stacking device includes a device housing, a lifting mechanism and a telescopic mechanism. The device housing is installed at the top of the AGV chassis. The lifting mechanism is arranged in the device housing, and the telescopic mechanism is arranged on the lifting mechanism; the lifting mechanism is used to drive the telescopic mechanism to lift and lower in the device housing, and the telescopic mechanism is used to place goods and load and unload the goods to a preset position. The AGV chassis can quickly and accurately move to the position where the goods are located and the target storage position, greatly reducing the time and labor intensity of manual handling. The precise coordinated movement of the lifting mechanism and the telescopic mechanism enables the goods to be quickly taken out from the shelf or placed on the shelf, improving the efficiency of the entire handling process. The flexible moving ability of the AGV chassis is combined with the lifting and telescopic functions of the stacking device. With such a setting, the AGV stacker for loading and unloading in a flexible machining production line can not only handle goods, complete the handling tasks of a large number of goods in a short time, but also load and unload the goods, thereby improving the working efficiency of the AGV stacker for stacking goods in a flexible machining production line. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0016] Figure 1 It is a schematic structural diagram of an embodiment of the AGV stacker for loading and unloading in a flexible machining production line provided by the present invention; Figure 2 It is a schematic structural diagram of the stacking device of the AGV stacker for loading and unloading in a flexible machining production line provided by the present invention.

[0017] Explanation of the reference numerals in the drawings: 10. AGV chassis; 11. positioning block; 11a. positioning pin hole; 20. stacking device; 21. device housing; 22. lifting mechanism; 221. lifting electric cylinder; 222. lifting frame; 222a. support arm; 222b. top plate; 222c. avoidance opening; 223. load-carrying platform; 23. telescopic mechanism; 231. lower fork arm; 232. middle fork arm; 233. upper fork arm; 30. central control rotating platform; 40. laser obstacle avoidance sensor.

[0018] The realization, functional features and advantages of the purpose of the present invention will be further described in conjunction with the embodiments with reference to the accompanying drawings. Specific embodiments

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0020] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative position relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0021] In addition, if there are descriptions such as "first", "second", etc. involved in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, or solution B, or the solution where A and B are satisfied simultaneously. In addition, the technical solutions between the embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0022] The present invention provides an AGV stacker for loading and unloading and transporting materials in a flexible machining production line.

[0023] Please refer to Figure 1 and Figure 2, in an embodiment of the present invention, the AGV stacker for loading and unloading in a flexible machining production line includes an AGV chassis and a stacking device. The stacking device includes a device housing, a lifting mechanism, and a telescopic mechanism. The device housing is installed at the top of the AGV chassis. The lifting mechanism is arranged inside the device housing, and the telescopic mechanism is arranged on the lifting mechanism. The lifting mechanism is used to drive the telescopic mechanism to move up and down inside the device housing, and the telescopic mechanism is used to place goods and load and unload the goods to a preset position.

[0024] The AGV chassis is the basic support and moving platform of the entire AGV stacker for loading and unloading in a flexible machining production line. It is usually made of strong metal materials and has good load-bearing capacity and durability. The AGV chassis is designed to carry a load of 6000 kg and has sufficient load-bearing capacity to support heavy objects such as the upper part of the stacker and the zero-point fixture for handling, ensuring stability and safety during handling. The AGV chassis is driven by a four-group diagonal two-steering-wheel drive method, providing good mobility and steering flexibility, and can shuttle flexibly and dock precisely in narrow channels and complex workstation layouts. The inside of the AGV chassis integrates an advanced drive system, including key components such as motors, reducers, and drive wheels. The motor provides power for the movement of the AGV chassis. The reducer reduces the speed and increases the torque, and the drive wheels are in contact with the ground to achieve the flexible movement of the AGV chassis in places such as warehouses and factory workshops. In addition, the chassis is equipped with a high-precision navigation system, such as laser navigation, magnetic stripe navigation, or visual navigation. These navigation systems can sense the surrounding environment in real time, accurately plan the driving path, and ensure that the AGV chassis travels smoothly and accurately to the designated position according to the preset route, providing a stable moving foundation for stacking operations. The device housing is installed at the top of the AGV chassis and serves to protect the internal lifting mechanism and telescopic mechanism. The housing is usually made of high-strength and corrosion-resistant materials, such as aluminum alloy or stainless steel, to adapt to different working environments, such as humid places and places with corrosive gases. The shape and size of the housing are optimized according to the overall design and load-bearing requirements of the stacker, ensuring both sufficient internal space to accommodate the lifting and telescopic mechanisms and good structural strength and stability. The housing surface may also be designed with structures such as heat dissipation holes and observation windows. The heat dissipation holes help the internal mechanism dissipate heat during long-term operation and prevent equipment failures caused by overheating. The observation window facilitates operators or maintenance personnel to observe the operating state of the internal mechanism from the outside and promptly discover potential problems.

[0025] The lifting mechanism is arranged inside the device housing and is a key component for realizing the vertical movement of the AGV stacker. The telescopic mechanism is arranged on the lifting platform of the lifting mechanism and is used to place goods and load and unload the goods to a preset position.

[0026] When the AGV stacker used for loading and unloading goods in a flexible machining production line receives a goods handling task, first, the navigation system of the AGV chassis starts to work. It precisely controls the driving direction and speed of the AGV chassis based on the pre-set path planning and surrounding environment information. The motors in the drive system drive the drive wheels through a speed reducer according to the instructions of the navigation system, enabling the AGV chassis to move smoothly to the location of the goods or the designated aisle of the shelf. During the entire movement process, the sensors on the AGV chassis continuously monitor the surrounding obstacles and ground conditions. In case of sudden obstacles, the navigation system will quickly adjust the driving route to ensure the AGV chassis safely reaches the target position. After reaching the location of the goods, the lifting mechanism starts to work, driving the telescopic mechanism to move up or down to match the height of the shelf layer where the goods are located. At the same time, the telescopic mechanism also starts synchronously until it touches the goods. During the process of picking up the goods, the movement speed and accuracy of the lifting mechanism and the telescopic mechanism need to be highly coordinated to ensure that no accidents such as collisions or drops occur to the goods during the picking process. After the picking is completed, the AGV chassis starts again and moves the stacking device with the goods to the target shelf position or the goods storage area according to the instructions of the navigation system. During the movement, the lifting mechanism and the telescopic mechanism remain stable to ensure that the goods will not shake or fall off due to the movement of the AGV chassis. After reaching the target position, the lifting mechanism acts again and adjusts its position in the height direction according to the height of the target shelf layer. The telescopic mechanism places the goods smoothly on the shelf. During the placement process, it is necessary to accurately align with the storage location of the shelf, slowly place the goods, and at the same time, the lifting mechanism may need to be fine-tuned to ensure that the goods can be placed in place smoothly. After the goods are placed, the telescopic mechanism retracts, and the lifting mechanism rises or falls to a suitable position according to the need, preparing for the next handling task.

[0027] The flexible movement ability of the AGV chassis combined with the lifting and telescopic functions of the stacking device realizes the efficient handling of goods in the warehouse or factory workshop. The AGV chassis can quickly and accurately move to the location of the goods and the target storage location, greatly reducing the time and labor intensity of manual handling. The precise coordinated movement of the lifting mechanism and the telescopic mechanism enables the goods to be quickly picked up from the shelf or placed on the shelf, improving the efficiency of the entire handling process. With such settings, the AGV stacker used for loading and unloading goods in a flexible machining production line can not only handle goods, complete the handling tasks of a large number of goods in a short time, but also load and unload goods, thus improving the working efficiency of the AGV stacker for stacking goods used in the flexible machining production line for loading and unloading. Compared with traditional manual handling or forklift handling, the handling efficiency is increased by several times, meeting the requirements of high efficiency and fast pace in modern warehousing logistics.

[0028] All components of the AGV stacker for loading and unloading in a flexible machining production line work together to achieve the automation and intelligence of goods handling. From receiving the handling task, to automatically moving, lifting, telescoping to pick up goods, and then moving and accurately placing the goods, the whole process requires no manual intervention and is completely completed by the equipment automatically. This automated and intelligent handling method not only improves work efficiency, but also reduces human errors and safety hazards. At the same time, the AGV stacker for loading and unloading in a flexible machining production line can also be seamlessly docked with the warehouse management system (WMS) or the production execution system (MES), etc., to receive task instructions in real time and feedback handling status information, realizing the intelligent management of the entire warehousing logistics or production process. For example, in an intelligent manufacturing factory, the AGV stacker for loading and unloading in a flexible machining production line can automatically transport raw materials from the warehouse to the production line and finished products from the production line to the finished product warehouse according to the production plan, closely cooperate with the production process, and improve the automation level and overall efficiency of production.

[0029] The stacking device is designed with a handling fixture load ≥ 2000 kg, ensuring that it can safely and stably handle zero-point fixtures of various specifications and weights, meet the diverse fixture handling needs of the flexible machining production line, and ensure the integrity and accuracy of the fixtures and workpieces during handling.

[0030] In one embodiment, please refer to Figure 1 and Figure 2 , the lifting mechanism includes at least two lifting electric cylinders, a lifting frame and a loading platform. The two lifting electric cylinders are arranged on the device housing; the lifting frame is connected to the lifting electric cylinders; the loading platform is connected to the lifting frame; wherein, the two lifting electric cylinders drive the lifting frame to drive the loading platform to lift and lower in the device housing.

[0031] The lifting stroke of the electric cylinder is ≥ 1000 mm, and the precision is controlled within ±0.5 mm. The high-precision lifting mechanism can accurately place the zero-point fixture on processing equipment or shelves at different heights, adapt to the operation requirements at different heights, and at the same time ensure the smoothness and accuracy during handling, reducing problems such as fixture and equipment collision or inaccurate placement caused by lifting errors.

[0032] The lifting electric cylinder is the core power component of the lifting mechanism. It converts electrical energy into mechanical energy to provide power for the lifting movement of the lifting frame and the loading platform. Each lifting electric cylinder usually consists of a motor, a lead screw, a nut, etc. The motor is the power source of the electric cylinder. When the motor is powered on, it will rotate at a set speed and direction. The lead screw is connected to the output shaft of the motor, and the rotation of the motor drives the lead screw to rotate. The nut cooperates with the lead screw and is fixedly connected to the lifting frame. When the lead screw rotates, the nut will move axially along the lead screw, thereby pushing the lifting frame up or down. The lifting electric cylinder has precise control capabilities and can achieve stroke control at the micron level to ensure the accuracy of the lifting movement. In addition, the lifting electric cylinder also has a high thrust output and can meet the lifting requirements of the lifting frame and the loading platform under different loads.

[0033] The lifting frame is a key component connecting the lifting electric cylinder and the loading platform. It plays a role in transmitting power and supporting the loading platform. The lifting frame is usually made of high-strength metal materials such as aluminum alloy or steel to ensure its structural strength and stability. The shape and structure design of the lifting frame should be able to cooperate well with the lifting electric cylinder and the loading platform. One end of it is fixedly connected to the nut of the lifting electric cylinder, and the other end is connected to the loading platform. During the lifting process, the lifting frame will move up and down with the movement of the nut of the lifting electric cylinder and bear the weight of the loading platform and the goods at the same time.

[0034] To ensure the smoothness of the lifting movement, a guiding device such as a guide rail or a slider is also provided on the lifting frame. These guiding devices cooperate with the guiding grooves or guide rails in the device housing to limit the movement direction of the lifting frame and prevent it from shaking or deviating during the lifting process.

[0035] The loading platform is the component that directly contacts the goods and is used to place and carry the goods. The size and shape of the loading platform are designed according to the specifications of the goods and the handling requirements. Common loading platforms include flat plate type, fork type, claw type, etc. The flat plate type loading platform is suitable for placing goods with regular shapes such as boxes and pallets; the fork type loading platform is suitable for fork-lifting goods and can reach deep under the goods for handling; the claw type loading platform can clamp the goods and is suitable for handling goods with irregular shapes or goods that need to be firmly clamped.

[0036] The surface of the loading platform is usually specially treated, such as adding anti-slip textures or coatings, to improve the placement stability of the goods and prevent the goods from slipping during the handling process. The loading platform is fixedly connected to the lifting frame by bolts, welding or buckles, etc., to ensure that the loading platform and the lifting frame will not have relative displacement during the lifting and handling processes.

[0037] When the AGV stacker used for loading and unloading in a flexible machining production line needs to perform a lifting operation, the control system first sends an instruction to the lifting electric cylinder. After the motor of the lifting electric cylinder receives the instruction, it starts to rotate, and the rotation of the motor drives the lead screw to rotate. Due to the mating relationship between the lead screw and the nut, the nut will move axially on the lead screw. The nut is fixedly connected to the lifting frame, so the lifting frame will rise or fall with the movement of the nut. During this process, the rotational speed and direction of rotation of the motor of the lifting electric cylinder are precisely controlled by the control system, so as to achieve the smooth lifting and lowering of the lifting frame. For example, when it is necessary to raise the load platform to a higher position, the control system will instruct the motor to rotate forward at a certain rotational speed, so that the lifting frame moves upward slowly and steadily; when it is necessary to lower the load platform to a lower position, the control system will instruct the motor to rotate in the reverse direction, so that the lifting frame descends smoothly.

[0038] The coordinated work of the lifting electric cylinder, the lifting frame and the load platform realizes the precise control of the lifting position of the load platform. The precise driving ability of the lifting electric cylinder, combined with the stable transmission of the lifting frame and the accurate placement of the load platform, enables the load platform to rise and fall within the device housing according to the preset height position. In an automated warehouse, goods need to be placed on shelves at different heights, and the lifting mechanism can accurately lift the load platform to a position matching the height of the shelf layer, ensuring that the goods can be smoothly stored on the shelf or taken out from the shelf, improving the efficiency and accuracy of goods storage and handling.

[0039] In one embodiment, please refer to Figure 1 and Figure 2 , the lifting electric cylinder includes an electric cylinder housing, a driving motor, a lead screw and a piston rod. The electric cylinder housing is arranged in the device housing; the driving motor is arranged in the electric cylinder housing; the lead screw is rotatably connected in the electric cylinder housing and is in transmission connection with the driving motor; an inner nut is rotatably connected outside the lead screw; the piston rod is connected to the inner nut and is connected to the lifting frame.

[0040] The electric cylinder housing is the external protection and support structure of the lifting electric cylinder. It is installed in the device housing and provides an installation foundation and protection space for components such as the driving motor and the lead screw inside the electric cylinder. The electric cylinder housing is usually made of high-strength metal materials such as aluminum alloy or steel to ensure its structural strength and durability.

[0041] The drive motor is the power source of the lifting cylinder. It is installed in the cylinder housing and drives the lead screw to rotate through electrical energy. The drive motor usually uses a high-performance servo motor or stepper motor, which has precise control capabilities, fast response speeds, and high torque output. The servo motor can accurately control the motor's speed, angle, and direction of rotation according to the control system's instructions to achieve precise control of the lead screw's rotation; the stepper motor can achieve precise control of the motor's rotation angle and speed by controlling the number and frequency of pulse signals. The output shaft of the drive motor is connected to one end of the lead screw to transmit the motor's rotational power to the lead screw.

[0042] The lead screw is a key transmission component of the lifting cylinder. It is connected to the cylinder housing and is connected to the output shaft of the drive motor. The surface of the lead screw is processed with precision threads, which cooperate with the inner nut to achieve transmission. The material of the lead screw is usually high-strength alloy steel, which undergoes heat treatment and other processes to improve its hardness and wear resistance. The thread accuracy of the lead screw directly affects the lifting accuracy and repeatability of the lifting cylinder. When the drive motor rotates, the lead screw rotates with it, and through the cooperation with the thread of the inner nut, the rotational motion of the motor is converted into the linear motion of the piston rod.

[0043] The piston rod is the actuator of the lifting cylinder. It is connected to the inner nut and fixedly connected to the lifting frame. The outer surface of the piston rod is usually precision machined and surface treated to ensure its matching accuracy and wear resistance with the inner nut. The end of the piston rod is fixedly connected to the lifting frame by bolts, welding or snaps, and the linear motion of the inner nut is transmitted to the lifting frame to realize the lifting motion of the lifting frame. The diameter and length of the piston rod are designed according to the load-bearing capacity and stroke requirements of the lifting cylinder to ensure that it has sufficient strength and rigidity to withstand the load and remain stable during the lifting process.

[0044] When the lifting electric cylinder needs to drive the lifting frame to lift, the control system first sends a command to the drive motor. After receiving the command, the drive motor starts to rotate, and its output shaft drives the screw to rotate. The rotation of the screw rod cooperates with the thread of the inner nut, causing the inner nut to move along the axial direction of the screw rod. Since the inner nut is fixedly connected to the piston rod, the piston rod will extend or retract as the inner nut moves. The end of the piston rod is connected to the lifting frame, so the lifting frame will rise or fall as the piston rod extends or retracts. During the entire movement process, the electric cylinder housing provides stable support for the drive motor, screw rod and other components to ensure their normal operation; the precise control capability of the drive motor ensures that the rotation speed and angle of the screw rod meet the requirements; the precise cooperation between the screw rod and the inner nut realizes efficient transmission; the piston rod transmits the linear motion generated by the transmission to the lifting frame to complete the lifting task.

[0045] The close cooperation of the drive motor, lead screw, inner nut and piston rod realizes the precise control of the lifting position of the lifting frame. The precise driving ability of the drive motor, combined with the precise transmission of the lead screw and inner nut, enables the piston rod to perform linear motion according to the preset stroke and speed, thereby driving the lifting frame to accurately lift to the target position. This precise lifting control is crucial for the accurate handling and placement of goods, and can improve the efficiency and accuracy of goods storage and handling. For example, in an automated warehouse, the lifting electric cylinder can accurately lift the cargo platform to a position matching the height of the shelf layer, ensuring that goods can be smoothly stored on the shelf or taken out from the shelf.

[0046] Optionally, the lifting electric cylinder consists of a lifting guide rail, a lifting drive device (such as a motor, ball screw nut pair or hydraulic cylinder, etc.) and a lifting platform. The lifting guide rail provides vertical guidance for the lifting platform to ensure the smoothness and accuracy of the lifting movement. The lifting drive device can adopt different drive methods according to different design requirements and load-bearing capacities. For example, in the structure of using a motor to drive the ball screw nut pair, the rotation of the motor drives the screw to rotate, and the nut on the screw is connected to the lifting platform, thereby realizing the up and down movement of the lifting platform; if a hydraulic cylinder is used for driving, the telescopic movement of the piston rod of the hydraulic cylinder drives the lifting platform to lift. The lifting platform is the load-bearing part of the lifting mechanism, and a telescopic mechanism is installed on its upper surface. The size and structure of the platform should be able to meet the installation and operation requirements of the telescopic mechanism, and at the same time bear the weight of the goods.

[0047] Optionally, the telescopic mechanism generally consists of a telescopic guide rail, a telescopic drive device (such as a motor, rack and pinion mechanism or cylinder, etc.) and a telescopic fork (or telescopic claw). The telescopic guide rail provides horizontal guidance for the telescopic fork (or telescopic claw), enabling it to smoothly extend and retract along a predetermined trajectory. The telescopic drive device is selected according to the telescopic stroke and speed requirements of the telescopic mechanism. For example, in the structure of using a motor to drive the rack and pinion mechanism, the rotation of the motor drives the pinion to rotate, the pinion meshes with the rack, and the rack is connected to the telescopic fork (or telescopic claw), thereby realizing the horizontal telescopic movement of the telescopic fork (or telescopic claw); if a cylinder is used for driving, the telescopic movement of the piston rod of the cylinder drives the telescopic fork (or telescopic claw) to expand and contract. The telescopic fork (or telescopic claw) is the part that directly contacts the goods, and its shape and size are designed according to the specifications and shapes of the goods, and can firmly hold or support the goods, and accurately place the goods on the shelf or take them out from the shelf during the telescopic process.

[0048] In one embodiment, please refer to Figure 1 and Figure 2 , the lifting frame includes at least four support arms and a top plate, wherein two support arms are slidably connected to one side of the device housing, and the remaining two support arms are slidably connected to the other side of the device housing; the top plate is connected to the four support arms and encloses a lifting space with the four support arms.

[0049] The support arms are the main supporting components of the lifting frame, playing the role of connecting the device housing and the top plate. In this embodiment, there are at least four support arms, which are divided into two groups, and two support arms in each group are respectively slidably connected to both sides of the device housing. The support arms are usually made of high-strength metal materials such as aluminum alloy or steel to ensure that they have sufficient structural strength and stiffness to withstand the loads and torques generated during the lifting process. The shape and size of the support arms are designed to be able to cooperate well with the device housing and the top plate, while ensuring the smoothness and stability of the lifting movement. The sliding connection method of the support arms can adopt the cooperation structure of a guide rail and a slider. The slider is installed on the support arm, and the guide rail is fixed inside the device housing. The support arm slides on the guide rail through the slider to achieve the lifting movement.

[0050] The top plate is the top structure of the lifting frame, connected to the four support arms and enclosing a lifting space with the support arms. The top plate is usually made of metal sheets or high-strength composite materials, and its shape and size are designed according to the requirements of the lifting space and the size of the goods. The role of the top plate is to connect the four support arms, making the entire lifting frame structure stable and strong, and further ensuring the safety of the goods during the lifting and handling processes.

[0051] When the lifting frame needs to perform a lifting movement, the four support arms slide synchronously on the guide rails of the device housing. Since the support arms are fixedly connected to the top plate, the top plate will rise or fall as the support arms slide. During the rising process, the support arms slide upward along the guide rails of the device housing, driving the top plate upward to lift the goods; during the falling process, the support arms slide downward along the guide rails, driving the top plate downward to lower the goods. During the entire lifting process, the sliding of the four support arms should be kept synchronous to ensure the smooth lifting of the top plate and avoid tilting or shaking of the goods during the lifting process. The guide rail structure of the device housing and the slider structure of the support arms should have good accuracy and cooperation performance to ensure the smoothness and stability of the support arm sliding. At the same time, the connection structure between the top plate and the support arms should be firm and reliable, capable of withstanding the weight of the goods and the inertial forces during the lifting process, ensuring the overall stability of the lifting frame structure.

[0052] The lifting space formed by enclosing the four support arms and the top plate provides sufficient space for placing goods. This design can be optimized according to the size and shape of the goods to meet the handling requirements of different goods. The larger lifting space enables the lifting frame to adapt to various specifications of goods, improving the versatility and flexibility of the AGV stacker used for loading and unloading handling in the flexible machining production line. The design of the support arms being slidably connected to both sides of the device housing allows the lifting frame to retract into the device housing when not in use, occupying less space. When lifting operation is required, the support arms slide out to form a larger lifting space. This retractable structural design effectively improves the space utilization rate, enabling the AGV stacker used for loading and unloading handling in the flexible machining production line to work in a narrow space, and also facilitating the storage and transportation of the AGV stacker used for loading and unloading handling in the flexible machining production line. The device housing is provided with four limiting grooves, each support arm is slidably connected to a limiting groove, and multiple pulleys are provided on the groove side wall of each limiting groove, making the support arms slide more smoothly in the limiting grooves.

[0053] In one embodiment, please refer to Figure 1 and Figure 2 , the top plate is provided with an avoidance opening for avoiding the goods placed on the telescopic mechanism.

[0054] The avoidance opening is a special design on the top plate for avoiding the goods placed on the telescopic mechanism. The shape and size of the avoidance opening are designed according to the size and shape of the goods on the telescopic mechanism, usually being rectangular, circular or other irregular shapes. The design of the avoidance opening ensures that the top plate will not interfere with the goods on the telescopic mechanism during the lifting process, ensuring that the goods can be smoothly placed on the telescopic mechanism and remain stable during the lifting process. The edge of the avoidance opening can be chamfered or rounded to reduce wear and damage to the goods.

[0055] The design of the avoidance opening ensures that the top plate will not interfere with the goods on the telescopic mechanism during the lifting process. When the telescopic mechanism extends or retracts the goods, the avoidance opening on the top plate can provide sufficient space for the goods to avoid collision or jamming between the top plate and the goods. This design ensures the smoothness of the goods during telescoping and lifting, improving the operation efficiency and reliability of the equipment. For example, in an automated warehouse, when the telescopic mechanism takes out or puts in goods from the shelf, the avoidance opening on the top plate can ensure that the goods will not be hindered by the top plate during telescoping and smoothly complete the goods handling task.

[0056] In one embodiment, please refer to Figure 1 and Figure 2The telescopic mechanism is a telescopic fork structure, which includes two lower forks, two middle forks, two upper forks, a first telescopic drive motor and a second telescopic drive motor. The two lower forks are fixed to the cargo platform and are arranged at intervals; each middle fork is slidably connected to a lower fork; each upper fork is slidably connected to a middle fork; the first telescopic drive motor is arranged on the cargo platform, and the first telescopic drive motor is transmission-connected to the two middle forks for driving the middle forks to move on the cargo platform; the second telescopic drive motor is arranged on one of the middle forks, and is transmission-connected to the two upper forks for driving the upper forks to move on the middle forks.

[0057] The lower fork arm is the basic component of the telescopic fork structure, fixed on the cargo platform and arranged at intervals. The lower fork arm is usually made of high-strength metal materials, such as aluminum alloy or steel, to ensure that it has sufficient structural strength and rigidity to withstand the weight of the cargo and the torque during the telescopic process. The shape and size of the lower fork arm should be designed to be well matched with the cargo platform and provide sliding tracks for the middle fork arm and the upper fork arm. The middle fork arm is slidably connected to the lower fork arm and is the middle layer of the telescopic fork structure. The structure and material of the middle fork arm are similar to those of the lower fork arm, and are also made of high-strength metal materials. The sliding connection method of the middle fork arm can adopt a matching structure of a guide rail and a slider. The slider is installed on the middle fork arm, the guide rail is fixed on the inner side of the lower fork arm, and the middle fork arm slides on the guide rail through the slider to achieve telescopic movement. The function of the middle fork arm is to connect the lower fork arm and the upper fork arm, and transmit the power of the first telescopic drive motor to the upper fork arm. The upper fork arm is slidably connected to the middle fork arm and is the outermost layer of the telescopic fork structure. The structure and material of the upper fork arm are similar to those of the lower fork arm and the middle fork arm, and are made of high-strength metal materials. The sliding connection of the upper fork arm can also adopt the matching structure of the guide rail and the slider. The slider is installed on the upper fork arm, and the guide rail is fixed on the inner side of the middle fork arm. The upper fork arm slides on the guide rail through the slider to achieve telescopic movement. The end of the upper fork arm is usually designed with a cargo clamping device, such as fork teeth or clamping claws, for direct contact and clamping of cargo.

[0058] The first telescopic drive motor is arranged on the cargo platform and is connected to the two middle fork arms in a transmission manner, so as to drive the middle fork arms to move on the cargo platform. The first telescopic drive motor usually adopts a high-performance servo motor or a stepper motor, which has precise control capability, fast response speed and high torque output. The output shaft of the first telescopic drive motor is connected to the middle fork arm through a transmission mechanism (such as a gear, a belt or a screw nut pair, etc.), and the rotational power of the motor is converted into the linear motion of the middle fork arm to realize the telescopic movement of the middle fork arm. The second telescopic drive motor is arranged on one of the middle fork arms and is connected to the two upper fork arms in a transmission manner, so as to drive the upper fork arms to move on the middle fork arms. The structure and performance of the second telescopic drive motor are similar to those of the first telescopic drive motor, and a high-performance servo motor or a stepper motor is also adopted. The output shaft of the second telescopic drive motor is connected to the upper fork arm through a transmission mechanism, and the rotational power of the motor is converted into the linear motion of the upper fork arm to realize the telescopic movement of the upper fork arm.

[0059] When cargo needs to be transported, the control system first sends a command to the first telescopic drive motor. After receiving the command, the first telescopic drive motor starts to rotate, and its output shaft drives the middle fork arm to slide on the cargo platform through the transmission mechanism. The middle fork arm extends or retracts along the guide rail on the lower fork arm to achieve the telescopic movement of the middle fork arm. During this process, the sliding of the middle fork arm must remain stable and smooth to ensure the stability of the cargo during the handling process. The precise control capability of the first telescopic drive motor enables the middle fork arm to extend and retract according to the preset stroke and speed, and accurately move the middle fork arm to the target position.

[0060] After the middle fork arm moves to the target position, the control system sends a command to the second telescopic drive motor. After receiving the command, the second telescopic drive motor starts to rotate, and its output shaft drives the upper fork arm to slide on the middle fork arm through the transmission mechanism. The upper fork arm extends or retracts along the guide rail on the middle fork arm to achieve the telescopic movement of the upper fork arm. The end clamping device of the upper fork arm directly contacts and clamps the goods during the telescopic process, taking the goods out of the shelf or putting them into the shelf. The precise control capability of the second telescopic drive motor enables the upper fork arm to extend and retract according to the preset stroke and speed, and accurately place the goods at the target position.

[0061] The multi-stage telescopic design of the lower fork arm, the middle fork arm and the upper fork arm significantly increases the telescopic range of the telescopic fork structure. Through the coordinated control of the first telescopic drive motor and the second telescopic drive motor, the middle fork arm and the upper fork arm can perform telescopic movements respectively, so that the telescopic fork structure can reach farther or deeper positions, improving the applicability and flexibility of the equipment. For example, in an automated warehouse, the multi-stage telescopic fork structure can reach deep into narrow shelf aisles or high-rise shelves to easily take out or put in goods, improving the space utilization rate and cargo storage and retrieval efficiency of the warehouse.

[0062] The precise control capability of the first telescopic drive motor and the second telescopic drive motor, combined with the precise sliding connection of the middle fork arm and the upper fork arm, enables precise control of cargo handling. The motor can precisely control the telescopic speed and telescopic position according to the instructions of the control system, so that the fork can accurately align with the cargo or shelf position, reducing the error and collision risk during cargo handling. This precise handling capability is particularly important for storing and retrieving precision instruments, fragile items or high-value goods, which can effectively protect the safety of the goods and reduce the damage rate of the goods. The synergy of multi-stage telescopic and precise control significantly improves the operating efficiency of the telescopic fork structure. During the cargo handling process, the telescopic fork structure can quickly and accurately telescope to the target position, reducing the time and labor intensity of cargo handling.

[0063] The maximum telescopic travel of the telescopic mechanism is ≥2000mm, and the accuracy is also controlled within ±0.5mm. The telescopic fork is designed to accurately transport the zero-point fixture from the high-precision AGV stacker used for loading and unloading in the flexible machining production line to the target position or retrieve it from the target position. Its long travel and high precision can meet the transportation requirements of different distances and positions in the flexible machining production line, ensure the accurate placement and removal of the fixture, and improve the automation and reliability of the handling operation.

[0064] In one embodiment, see Figure 1 and Figure 2 The AGV stacker used for loading and unloading materials in a flexible mechanical processing production line also includes a central control rotating platform arranged on the AGV chassis. The central control rotating platform is transmission-connected to the device housing to drive the stacking device to rotate relative to the AGV chassis.

[0065] The central control rotating platform is installed on the AGV chassis and is connected to the device housing to drive the stacking device to rotate relative to the AGV chassis. The central control rotating platform is usually composed of a rotating motor, a reducer and a rotating bearing. The rotating motor provides the rotating power, and the reducer reduces the speed and increases the torque to ensure the smoothness and accuracy of the rotating motion. The rotating bearing supports the entire stacking device and reduces friction during the rotation process.

[0066] When the central control rotating platform receives the rotation command, the rotating motor starts to work. The rotation of the motor is transmitted to the rotating bearing through the reducer, driving the device housing and the stacking device to rotate together. The rotation angle and speed are precisely controlled by the control system to ensure that the stacking device can accurately align with the target position.

[0067] After rotating into place, the lifting mechanism and the telescopic mechanism start to work. The lifting electric cylinder drives the lifting frame to drive the loading platform to lift inside the device housing, and the telescopic fork structure performs telescopic movement on the loading platform to take out or put goods on the shelf. During the whole process, the coordinated movement of the central control rotating platform, the lifting mechanism and the telescopic mechanism ensures the efficiency and accuracy of goods handling.

[0068] The introduction of the central control rotating platform enables the AGV stacker used for loading and unloading handling in the flexible machining production line to flexibly adjust the direction of the stacking device during movement without frequently adjusting the driving direction of the AGV chassis. This not only improves the flexibility of the equipment, but also reduces the complexity of the driving path and improves the overall operation efficiency.

[0069] The rotation function of the central control rotating platform enables the stacking device to complete more operations in a limited space, especially in narrow aisles or dense shelf areas. By rotating, the stacking device can make more effective use of space and improve the space utilization rate of the warehouse.

[0070] The coordinated work of the central control rotating platform, the lifting mechanism and the telescopic mechanism enables the AGV stacker used for loading and unloading handling in the flexible machining production line to complete the goods handling task in a short time. The quick response and precise control of the rotating platform, combined with the efficient movement of the lifting and telescopic mechanisms, significantly improve the operation efficiency of the equipment and meet the requirements of high efficiency and fast pace in modern warehousing logistics.

[0071] The rotating mechanism can realize the 0 - 360° rotation operation of the whole stacking device, and the rotation accuracy is controlled within 10″. This design greatly increases the operation area of the AGV stacker at a fixed location, enabling it to flexibly move the zero-point fixture to processing equipment or storage areas at different angles, improving the adaptability and operation efficiency of the equipment, and reducing the handling problems caused by operation space limitations.

[0072] In one embodiment, please refer to Figure 1 and Figure 2 , the AGV stacker used for loading and unloading handling in the flexible machining production line further includes a rotation sensor provided on the AGV chassis, and the rotation sensor is used to detect the rotation angle of the central control rotating platform.

[0073] The rotation sensor is installed on the central control rotating platform and is used to detect the rotation angle of the central control rotating platform. The rotation sensor usually adopts a high-precision encoder, which can provide real-time feedback on the precise position of the rotating platform. These sensors can be absolute encoders or incremental encoders. The absolute encoder can provide absolute position information, while the incremental encoder provides relative position information through pulse counting. The high precision and quick response ability of the rotation sensor ensure the precise control of the stacking device during rotation.

[0074] When the central control rotating platform receives a rotation instruction, the rotation motor starts to work. The rotation of the motor is transmitted to the rotary bearing through a speed reducer, driving the device housing and the stacking device to rotate together. The rotation sensor continuously detects the rotation angle of the rotating platform and feeds the data back to the control system. The control system adjusts the rotation speed and direction of the motor according to the feedback data to ensure that the stacking device can accurately align with the target position.

[0075] After rotating into place, the lifting mechanism and the telescopic mechanism start to work. The lifting electric cylinder drives the lifting frame to drive the cargo platform to lift and lower within the device housing, and the telescopic fork structure performs telescopic movement on the cargo platform to take out or put goods on the shelf. During the whole process, the coordinated movement of the central control rotating platform, the lifting mechanism and the telescopic mechanism ensures the high efficiency and accuracy of goods handling.

[0076] The high-precision detection ability of the rotation sensor ensures the stability of the stacking device during rotation, reducing the error caused by rotation. This enables the stacking device to more accurately align with the shelf position, improving the accuracy of goods storage and retrieval and reducing the risk of goods damage.

[0077] In one embodiment, please refer to Figure 1 and Figure 2 , the AGV stacker for loading and unloading handling in a flexible machining production line further includes at least four laser obstacle avoidance sensors. The four laser obstacle avoidance sensors are all arranged on the outer side wall of the AGV chassis and are spaced around the periphery of the AGV chassis; the laser obstacle avoidance sensors are used to detect and avoid obstacles.

[0078] The laser obstacle avoidance sensors are installed on the outer side wall of the AGV chassis and are spaced around the periphery of the AGV chassis. These sensors are used to detect and avoid obstacles to ensure the safety of the AGV stacker for loading and unloading handling in a flexible machining production line during driving. The laser obstacle avoidance sensors usually adopt high-precision lidar technology and can achieve high-precision obstacle detection within a range of 25 meters.

[0079] The laser obstacle avoidance sensors continuously scan the environment around the AGV chassis to detect whether there are obstacles. When the sensors detect an obstacle, they will feed back the position, distance and shape information of the obstacle to the control system. The control system judges the type and position of the obstacle according to this information and decides whether to take obstacle avoidance measures. Once the obstacle is cleared or the AGV stacker for loading and unloading handling in a flexible machining production line successfully bypasses the obstacle, the control system will resume the normal driving path and speed and continue to execute the handling task. During the whole process, the laser obstacle avoidance sensors continuously monitor the surrounding environment to ensure the safe driving of the AGV stacker for loading and unloading handling in a flexible machining production line.

[0080] The high-precision detection ability of the laser obstacle avoidance sensor ensures the safety of the AGV stacker used for loading and unloading in the flexible mechanical processing production line during driving. By detecting and feeding back obstacle information in real time, the control system can timely adjust the driving path or speed to avoid collision accidents and protect the safety of equipment and personnel. The laser obstacle avoidance sensor can work reliably in various complex environments, including narrow channels, dynamic obstacles, and bad weather conditions. This enables the AGV stacker used for loading and unloading in the flexible mechanical processing production line to adapt to more types of working environments, improving the versatility and application range of the equipment.

[0081] In one embodiment, refer to Figure 1 and Figure 2 , a plurality of positioning blocks are further provided on the outer side wall of the AGV chassis, and the plurality of positioning blocks are arranged at intervals around the periphery of the AGV chassis; each positioning block is provided with a positioning pin hole for mating and inserting with the positioning shaft on the machine tool side for positioning.

[0082] The positioning blocks are installed on the outer side wall of the AGV chassis and arranged at intervals around the periphery of the AGV chassis. Each positioning block is provided with a positioning pin hole for mating and inserting with the positioning shaft on the machine tool side for positioning. The positioning blocks are usually made of high-strength materials to ensure their structural strength and durability. The size and shape of the positioning pin hole are designed to be able to precisely cooperate with the positioning shaft on the machine tool side to ensure high-precision positioning when the AGV stacker used for loading and unloading in the flexible mechanical processing production line is docked.

[0083] When the AGV stacker used for loading and unloading in the flexible mechanical processing production line travels to the vicinity of the docking position, it first performs preliminary positioning through its navigation system (such as laser navigation, magnetic stripe navigation, or visual navigation). The navigation system guides the AGV stacker used for loading and unloading in the flexible mechanical processing production line to an area close to the target position. At this time, the position accuracy of the AGV stacker used for loading and unloading in the flexible mechanical processing production line is usually about ±5 mm.

[0084] When the AGV stacker used for loading and unloading in the flexible mechanical processing production line reaches the preliminary positioning position, the positioning pin holes on the positioning blocks cooperate with the positioning shaft on the machine tool side. The positioning shaft is inserted into the positioning pin hole to achieve high-precision physical positioning. This process ensures that the accuracy of the AGV stacker used for loading and unloading in the flexible mechanical processing production line during docking reaches ±2 mm or even higher through mechanical cooperation. After the precise positioning is completed, the stacking device (such as the lifting mechanism and telescopic mechanism) of the AGV stacker used for loading and unloading in the flexible mechanical processing production line starts to work for cargo handling or docking operations. During the entire docking and operation process, the cooperation between the positioning blocks and the positioning pin holes ensures the stability and accuracy of the AGV stacker used for loading and unloading in the flexible mechanical processing production line, reducing operation errors caused by position deviation.

[0085] The combined use of the positioning block and the positioning pin hole significantly improves the docking accuracy of the AGV stacker used for loading and unloading handling in the flexible machining production line. Through mechanical positioning, the AGV stacker used for loading and unloading handling in the flexible machining production line can achieve a docking accuracy of ±2 mm or even higher, meeting the high-precision docking requirements, such as battery packaging and precision material handling. Precise positioning ensures the stability of the AGV stacker used for loading and unloading handling in the flexible machining production line during docking and operation, reduces vibration and impact caused by position deviation, and protects the safety of goods and equipment. Especially when handling precision instruments or fragile items, high-precision positioning can effectively reduce the risk of goods damage.

[0086] The AGV stacker used for loading and unloading handling in the flexible machining production line is equipped with multiple safety sensors, including lidar, ultrasonic sensors, etc., to continuously monitor the obstacles and personnel around the AGV stacker used for loading and unloading handling in the flexible machining production line with high precision. Once a potential danger is detected, it will immediately brake automatically or take avoidance measures to ensure the safety of personnel and equipment during operation.

[0087] A safety speed limit and an emergency stop button are set in the control system of the AGV stacker used for loading and unloading handling in the flexible machining production line with high precision. In case of an emergency, the operator can press the emergency stop button at any time to make the AGV stacker used for loading and unloading handling in the flexible machining production line with high precision stop running immediately, preventing accidents from occurring.

[0088] The above description is only an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformation made under the technical concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. An AGV stacker for loading and unloading materials in a flexible mechanical processing production line, characterized in that: The AGV stacker for loading and unloading materials in a flexible machining production line includes: AGV chassis; and a stacking device, the stacking device comprising a device shell, a lifting mechanism and a telescopic mechanism, the device shell is installed on the top of the AGV chassis, the lifting mechanism is arranged in the device shell, and the telescopic mechanism is arranged on the lifting mechanism; the lifting mechanism is used to drive the telescopic mechanism to rise and fall on the device shell, and the telescopic mechanism is used to place goods and load and unload the goods to a preset position.

2. The AGV stacker for loading and unloading materials in a flexible machining production line according to claim 1, characterized in that: The lifting mechanism comprises: At least two lifting electric cylinders, the two lifting electric cylinders are arranged on the housing of the device; A lifting frame, the lifting frame is connected to the lifting electric cylinder; and a cargo platform connected to the lifting frame; The two lifting electric cylinders drive the lifting frame to drive the cargo platform to rise and fall on the device housing.

3. The AGV stacker for loading and unloading materials in a flexible machining production line as claimed in claim 2, characterized in that: The lifting electric cylinder comprises: An electric cylinder housing, the electric cylinder housing being arranged on the housing of the device; A driving motor, wherein the driving motor is arranged on the electric cylinder housing; A screw rod, the screw rod is rotatably connected in the electric cylinder housing and is transmission-connected to the drive motor; the screw rod is externally rotatably connected with an internal nut; and a piston rod, wherein the piston rod is connected to the inner nut, and the piston rod is connected to the lifting frame.

4. The AGV stacker for loading and unloading materials in a flexible machining production line as claimed in claim 3, characterized in that: The lifting frame comprises: At least four arms, two of which are slidably connected to one side of the device housing, and the remaining two arms are slidably connected to the other side of the device housing; and a top plate, wherein the top plate is connected to the four support arms and enclosed with the four support arms to form a lifting space.

5. The AGV stacker for loading and unloading materials in a flexible machining production line according to claim 4, characterized in that: The top plate is provided with an escape opening, and the escape opening is used to escape the goods placed on the telescopic mechanism.

6. The AGV stacker for loading and unloading materials in a flexible machining production line according to claim 2, characterized in that: The telescopic mechanism is a telescopic fork structure, and the telescopic fork structure includes: Two lower fork arms, the two lower fork arms are fixed to the cargo platform and are arranged at intervals; Two middle fork arms, each of which is slidably connected to one of the lower fork arms; Two upper fork arms, each of the upper fork arms being slidably connected to one of the middle fork arms; A first telescopic drive motor, which is disposed on the cargo platform and is transmission-connected to the two middle fork arms to drive the middle fork arms to move on the cargo platform; and a second telescopic drive motor, wherein the second telescopic drive motor is arranged on one of the middle fork arms and is transmission-connected with the two upper fork arms for driving the upper fork arms to move on the middle fork arms.

7. The AGV stacker for loading and unloading materials in a flexible machining production line according to claim 1, characterized in that: The AGV stacker used for loading and unloading materials in a flexible mechanical processing production line also includes a central control rotating platform arranged on the AGV chassis, and the central control rotating platform is transmission-connected to the device housing to drive the stacking device to rotate relative to the AGV chassis.

8. The AGV stacker for loading and unloading materials in a flexible machining production line according to claim 7, characterized in that: The AGV stacker used for loading and unloading materials in a flexible mechanical processing production line also includes a rotation sensor arranged on the AGV chassis, and the rotation sensor is used to detect the rotation angle of the central control rotating platform.

9. The AGV stacker for loading and unloading materials in a flexible machining production line according to claim 1, characterized in that: The AGV stacker used for loading and unloading materials in a flexible mechanical processing production line also includes at least four laser obstacle avoidance sensors, which are all arranged on the outer wall of the AGV chassis and are arranged at intervals around the periphery of the AGV chassis; the laser obstacle avoidance sensors are used to detect and avoid obstacles.

10. The AGV stacker for loading and unloading materials in a flexible machining production line according to claim 9, characterized in that: The outer side wall of the AGV chassis is also provided with a plurality of positioning blocks, which are arranged at intervals around the periphery of the AGV chassis; each positioning block is provided with a positioning pin hole, and the positioning pin hole is used for plugging and positioning with the positioning shaft on the machine tool side.

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