Material box AGV (Automatic Guided Vehicle) capable of automatically butting and loading and unloading materials

Abstract

The invention provides a material box AGV carrying vehicle capable of achieving automatic butt joint feeding and discharging, belongs to the technical field of carrying equipment, and solves the technical problems that an existing material box carrying vehicle cannot stably carry material boxes at multiple positions for automatic butt joint feeding and discharging and cannot push a material box goods shelf. Comprising an AGV, supporting telescopic mechanisms are arranged on the left side and the right side of the AGV, supporting clamping jaw assemblies are rotationally arranged at the two ends of each supporting telescopic mechanism, sixth driving motors are arranged at the two ends of each supporting telescopic mechanism, output shafts of the sixth driving motors are fixedly connected with the supporting clamping jaw assemblies, and a shear type lifting assembly is arranged on the AGV. And symmetrically-arranged mechanical arm assemblies are rotationally arranged on the left side and the right side of the shear type lifting assembly correspondingly, clamping assemblies are arranged on the mechanical arm assemblies correspondingly, and a discharging assembly is hinged to the upper portion of the shear type lifting assembly. The multi-position material box carrying device can stably carry material boxes at multiple positions, can push the material box goods shelf, can achieve automatic butt joint feeding and discharging, is stable in carrying and not prone to falling off, and can rapidly and stably unload the material boxes.

Description

Technical Field

[0001] The present invention belongs to the technical field of handling equipment, and relates to an AGV carrier, in particular to a bin AGV carrier capable of automatically docking for loading and unloading. Background Art

[0002] Currently, indoor AGVs (Automatic Guided Vehicles) are mainly applied in warehouses and production workshops. The most common operation of AGV carriers in warehouses and production workshops is handling, and when handling, it is necessary to handle bins and bin racks. Existing AGV carriers can only handle bins or bin racks during handling, and manual assistance is required during handling. Therefore, there is a need for an AGV carrier that can handle both bins and bin racks and can automatically load and unload.

[0003] After retrieval, as disclosed in a Chinese patent document for an AGV carrier [Application No.: 202322589222.9; Publication No.: CN220886888U]. This AGV carrier includes a vehicle body and a carrier frame. An electric lifting rod is provided at the top of the vehicle body, and the carrier frame is provided at the top of the electric lifting rod. A plurality of electric telescopic rods are provided on the side wall of the inner cavity of the carrier frame, and a first clamping plate is provided at one end of the electric telescopic rod. Sliding grooves are symmetrically provided on the side walls of the two first clamping plates.

[0004] Although the two first clamping plates disclosed in this patent are convenient for fixing the four sides of the goods, however, this bin AGV carrier cannot handle bins on the ground and at heights, nor can it handle bin racks.

[0005] Therefore, we propose a bin AGV carrier capable of automatically docking for loading and unloading, which can stably handle bins at multiple positions, can perform automatic docking for loading and unloading, and can push bin racks. Summary of the Invention

[0006] The object of the present invention is to address the above problems existing in the prior art and propose a bin AGV carrier capable of automatically docking for loading and unloading. The technical problem to be solved by this invention is: how to achieve stable handling of bins at multiple positions for automatic docking for loading and unloading and pushing bin racks.

[0007] The object of the present invention can be achieved by the following technical solutions:

[0008] A bin AGV transporter capable of automatically docking for loading and unloading, comprising an AGV transporter. Support telescopic mechanisms are provided on both the left and right sides of the AGV transporter. Support gripper assemblies are rotatably provided at both ends of the support telescopic rod mechanisms. Drive motors six are provided at both ends of the support telescopic mechanisms. The output shafts of the two drive motors six are in transmission connection with the support gripper assemblies at the corresponding positions. A scissor lift assembly is provided on the AGV transporter. Symmetrically arranged robotic arm assemblies are rotatably provided on both the left and right sides of the scissor lift assembly. Clamping assemblies are provided on the robotic arm assemblies. A discharging assembly is hinged above the scissor lift assembly. The width of the scissor lift assembly is equal to the width of the discharging assembly. The sum of the width of the scissor lift assembly and the maximum width of the two robotic arm assemblies is less than or equal to the width of the AGV transporter.

[0009] The working principle of the present invention is as follows: The staff sets the positions of the bin and the bin shelf, and then starts the AGV transporter.

[0010] When transporting the bin shelf, the AGV transporter moves to the position of the bin shelf. The support telescopic mechanisms on both sides drive the support gripper assemblies at the corresponding positions to move. Subsequently, the output shafts of the four drive motors six drive the support gripper assemblies at the corresponding positions to move to the position of the bin shelf frame. The support gripper assemblies move to clamp the bin shelf frame. After clamping, the AGV transporter moves, driving the two support telescopic mechanisms and the support gripper assemblies at the corresponding positions to push the bin shelf to the set position. The two support telescopic mechanisms and the support gripper assemblies at the corresponding positions return to the initial position, completing one transportation.

[0011] When transporting the bin on the ground, the AGV transporter moves to the position of the bin. The support telescopic mechanisms on both sides drive the drive motors six and the support gripper assemblies at the corresponding positions to move. Subsequently, the output shafts of the four drive motors six drive the support gripper assemblies at the corresponding positions to move. The four support gripper assemblies abut against the ground. Then, the two robotic arm assemblies drive the clamping assemblies at the corresponding positions to move to the position of the bin. The two clamping assemblies move to clamp the bin and place the bin on the discharging assembly. The two clamping assemblies do not release the clamping. Subsequently, the AGV transporter drives the discharging assembly and the bin thereon to the set position. When discharging the bin, the two robotic arm assemblies move to drive the clamping assemblies at the corresponding positions to move. The two clamping assemblies form a slope at the rear side of the AGV transporter. The discharging assembly moves, and the bin thereon slides from the discharging assembly onto the slope. The two robotic arm assemblies and the two clamping assemblies are dynamically adjusted to enable the bin to slide quickly and stably from the slope to the set position. The two robotic arm assemblies and the two clamping assemblies return to the initial position, completing one transportation.

[0012] When transporting a high-positioned material box, the AGV carrier moves to the position of the material box. The two support telescopic mechanisms drive the drive motors six and the support jaw assemblies at the corresponding positions to move. Subsequently, the output shafts of the four drive motors six drive the support jaw assemblies at the corresponding positions to move. The four support jaw assemblies abut against the ground. Then, the scissor lift assembly drives the unloading assembly, the two robotic arm assemblies, and the two clamping assemblies to move upward. Subsequently, the two robotic arm assemblies drive the clamping assemblies at the corresponding positions to move to the position of the material box. The two clamping assemblies move to clamp the material box. The two robotic arm assemblies drive the clamping assemblies at the corresponding positions and the clamped material box to move, and place the material box on the unloading assembly. Then, the scissor lift assembly drives the unloading assembly, the two robotic arm assemblies, the two clamping assemblies, and the material box to move downward. The scissor lift assembly returns to the initial position. The two robotic arm assemblies drive the clamping assemblies at the corresponding positions to clamp the material box again. Subsequently, the AGV carrier drives the unloading assembly and the material box thereon to move to the set position. The two robotic arm assemblies drive the clamping assemblies at the corresponding positions to place the clamped material box at the set position. Then, the two robotic arm assemblies drive the clamping assemblies at the corresponding positions to return to the initial position, completing one transportation;

[0013] During transportation, when the weight of the material box exceeds the set value, the transportation stops and an alarm message is sent to remind the staff.

[0014] Embedded grooves one are provided on both the left and right sides of the AGV carrier. The two embedded grooves one are symmetrically arranged. A lifting weighing seat is provided on the AGV carrier. A number of weighing sensors are provided between the AGV carrier and the lifting weighing seat. On the upper end surface of the lifting weighing seat, two symmetrically arranged sliding rails, two symmetrically arranged hinge seats one, and two symmetrically arranged mounting seats are successively provided from back to front. The two mounting seats are located inside the two hinge seats one. A tilt-mounted control computer is provided on the front side of the AGV carrier.

[0015] With the above structure, the staff sets the parameters on the control computer and then starts the AGV carrier. The AGV carrier moves. The lifting weighing seat is used for weighing. When a number of weighing sensors detect that the pressure exceeds the set value, the transportation is temporarily stopped, and an alarm message is sent to the staff through the control computer. The embedded groove one is used for installing and placing the support telescopic rod assembly and the support jaw assembly. The hinge seat one is used for installing the scissor lift assembly. The sliding rail facilitates the sliding of the scissor lift assembly to complete the lifting movement. The mounting seat is used for installing the hydraulic push rod one.

[0016] The scissor-type lifting assembly includes a scissor-type lifting frame, the bottom front side of the scissor-type lifting frame is hinged on two hinged seats, the bottom rear side of the scissor-type lifting frame is slidably arranged in a sliding rail, the bottom rear side of the scissor-type lifting frame is hinged on two hydraulic push rods, the ends of the two hydraulic push rods are hinged on the mounting seats on the same side, the top of the scissor-type lifting frame is provided with a lifting cover, the rear side of the upper end surface of the lifting cover is provided with a hinged seat 2, two symmetrically arranged avoidance holes 1 are opened on the lifting cover, and four bearing seats are provided on the inner top of the lifting cover, two bearing seats form a group, each group of bearing seats is symmetrically arranged on the left and right sides of the avoidance hole 1 at the corresponding position, and each group of bearing seats is close to the rear end of the avoidance hole 1.

[0017] With the above structure, the telescopic ends of the two hydraulic push rods drive the rear side of the scissor lift to slide on the sliding rail, so that the scissor lift performs lifting motion, thereby driving the lifting cover to perform lifting motion, the hinge seat 2 is used to install the unloading assembly, the avoidance hole 1 facilitates the embedding of the unloading assembly, and the bearing seat is used to install the unloading assembly.

[0018] The support telescopic mechanism includes a drive motor three and two support arms. The drive motor three is fixed to the upper side of the AGV transport vehicle. The two support arms are rotatably arranged in an embedded groove one on the same side. The ends of the two support arms are synchronously connected to the output shaft of the drive motor three. Support telescopic rods are slidably arranged in the support arms, and electric telescopic rods are arranged between the support arms and the support telescopic rods.

[0019] With the above structure, the output shaft of the driving motor three drives the two supporting arms to move synchronously out of the embedding groove one, and then the two electric telescopic rods drive the supporting telescopic rods at the corresponding positions to move and extend.

[0020] The supporting clamp assembly includes an articulated seat three, an electric push rod and a driving motor one. The articulated seat three is fixed on the output shaft of the driving motor six, the driving motor one is fixed on the electric push rod, the output shaft of the driving motor one is fixedly connected to the articulated seat three, and the electric clamp one is fixed on the telescopic end of the electric push rod.

[0021] With the above structure, when supporting the ground, the output shaft of the driving motor 6 drives the articulated seat 3 to rotate, and the articulated seat 3 drives the electric push rod and the electric clamping claw 1 to rotate, so that the electric push rod and the electric clamping claw 1 face the ground, and then the telescopic end of the electric push rod drives the electric clamping claw 1 to move, so that the electric clamping claw 1 contacts the ground;

[0022] When pushing the material box shelf, the output shaft of the drive motor six drives the articulated seat three to move, adjusts the position of the articulated seat three, the electric push rod and the electric clamp one, and the output shaft of the drive motor one drives the electric push rod and the electric clamp one to move and adjust the position, and then the telescopic end of the electric push rod drives the electric clamp one to clamp on the material box shelf frame.

[0023] The robotic arm assembly includes a mechanical telescopic arm, a driving motor four, and a clamping arm. The bottom of the mechanical telescopic arm is rotatably arranged on the side of the lifting cover. The driving motor four is fixed on the outside of the mechanical telescopic arm, and the output shaft of the driving motor four is fixed on the side of the lifting cover. A driving motor two is fixed on the outside of the end of the mechanical telescopic arm. A connecting arm is fixed on the output shaft of the driving motor two. A driving motor five is fixed on the outside of the bottom of the clamping arm, and the output shaft of the driving motor five is fixedly connected to the end of the connecting arm. An avoidance hole two is formed on the inner side of the clamping arm, and an electric gripper two is detachably arranged at the end of the clamping arm.

[0024] With the above structure, when the output shaft of the driving motor four rotates, it reacts to make the mechanical telescopic arm and the driving motor four move. The mechanical telescopic arm drives the connecting arm and the clamping arm to move. The output shaft of the driving motor two drives the connecting arm to move, and the movement of the connecting arm drives the clamping arm to move. When the output shaft of the driving motor five rotates, it reacts to make the clamping arm move, and the movement of the clamping arm drives the electric gripper two to move. The avoidance hole two is used to install the clamping component to facilitate the movement of the clamping component. The electric gripper two is used to assist in handling the material box and the goods inside the material box.

[0025] The clamping component includes two fixed seats and a hinged clamping seat. The two fixed seats are fixed inside the clamping arm. A double-threaded electric lead screw member is arranged between the two fixed seats. Transmission blocks are arranged at both ends of the double-threaded electric lead screw member. Two connecting rods are hinged at both ends of the hinged clamping seat. The two connecting rods at the same end are hinged to the transmission block at the same end. A C-shaped clamping plate is fixed on the side of the hinged clamping seat. A plurality of rollers are rotatably arranged on the inner end surface of the C-shaped clamping plate, and the plurality of rollers protrude from the upper end surface of the C-shaped clamping plate. When in the unclamped state, the C-shaped clamping plate and the plurality of rollers thereon are embedded in the avoidance hole two, and the C-shaped clamping plate is flush with the inner end surface of the clamping arm.

[0026] With the above structure, the double-threaded electric lead screw member drives the two transmission blocks to move in opposite directions. The two transmission blocks drive the connecting rods at the corresponding positions to move. The four connecting rods cooperate to push the hinged clamping seat to move. The hinged clamping seat drives the C-shaped clamping plate to move. The C-shaped clamping plate slides in the avoidance hole two and extends out of the avoidance hole two;

[0027] When unloading the material box, the two C-shaped clamping plates move away from the avoidance hole two and cooperate with each other to form a slope. The material box slides into the slope and lands on the plurality of rollers, and the material box slides down the slope from the plurality of rollers.

[0028] The unloading component includes a unloading plate. The unloading plate is hinged on the hinge seat two. Two symmetrically arranged embedding grooves four are formed on the lower end surface of the unloading plate. The embedding grooves four are located directly above the avoidance holes one on the same side. Hinge seats four are fixed at the front end parts of the embedding grooves four. Hydraulic push rods two are hinged on the hinge seats four. The bottoms of the hydraulic push rods two are hinged on the bearing seats at the corresponding positions. A friction pad is detachably arranged on the upper end surface of the unloading plate.

[0029] With the above structure, the staff can replace the appropriate friction pads according to the shape and specifications of the bins. When unloading the bins, the telescopic ends of the two hydraulic push rods II extend simultaneously, pushing the hinge seats IV at the corresponding positions, thereby pushing the unloading plate and the bins thereon, so that the unloading plate forms a certain angle with the upper end surface of the lifting cover. The bins overcome the friction force between the bins and the unloading plate, and then the bins slide down from the unloading plate. The friction pads adjust the angle and sliding speed at which the bins start to slide through the friction force with the bins.

[0030] Compared with the prior art, the bin AGV carrier capable of automatic docking for loading and unloading has the following advantages:

[0031] 1. The AGV carrier transports the bins to the set positions, and the support telescopic mechanism and the support jaw assembly cooperate to clamp the bin shelves, and cooperate with the AGV carrier to realize the transportation of the bin shelves.

[0032] 2. The support telescopic mechanism supports the ground to ensure the structural stability during bin handling and avoid tipping over.

[0033] 3. The robotic arm assembly and the clamping assembly cooperate to automatically horizontally handle the bins, complete automatic docking for loading and unloading, and can transport the bins on the ground to the unloading assembly, facilitating the horizontal handling of the bins. And the clamping assembly maintains the clamping state during transportation to ensure stable transportation and prevent the bins from falling.

[0034] 4. The scissor lift assembly and the unloading assembly cooperate to drive the bins to lift, realizing docking for loading and unloading at different heights.

[0035] 5. The unloading assembly is tilted to make the bins slide onto the slope formed by the cooperation of the robotic arm assembly and the clamping assembly, dynamically adjusting to quickly and stably unload the bins. Brief Description of the Drawings

[0036] Figure 1 is a three-dimensional structural schematic diagram of the present invention.

[0037] Figure 2 is a three-dimensional structural schematic diagram of the present invention when handling the bin shelves.

[0038] Figure 3 is a three-dimensional structural schematic diagram of the present invention when unloading the bins.

[0039] Figure 4 is a three-dimensional structural schematic diagram of the AGV carrier in the present invention.

[0040] Figure 5 is a partially sectional structural schematic diagram of the scissor lift assembly in the present invention.

[0041] Figure 6 is a three-dimensional structural schematic diagram of some components in the present invention.

[0042] Figure 7 It is a three-dimensional structural schematic diagram of the support jaw assembly in the present invention.

[0043] Figure 8 It is a three-dimensional structural schematic diagram of the robotic arm assembly in the present invention.

[0044] Figure 9 It is a partial sectional structural schematic diagram of the clamping assembly in the present invention.

[0045] Figure 10 It is a three-dimensional structural schematic diagram of the unloading assembly in the present invention.

[0046] In the figure, 1. AGV carrier; 2. Scissor lift assembly; 3. Support telescopic mechanism; 4. Support jaw assembly; 5. Robotic arm assembly; 6. Unloading assembly; 7. Bin rack; 8. Clamping assembly; 9. First embedding groove; 10. First hinge seat; 11. Mounting seat; 12. Sliding rail; 13. Bearing seat; 14. Second hinge seat; 15. Lifting cover; 16. Scissor lift; 17. First hydraulic push rod; 18. First avoidance hole; 19. Support arm; 20. Support telescopic rod; 21. Third hinge seat; 22. First drive motor; 23. Electric push rod; 24. First electric jaw; 25. Mechanical telescopic arm; 26. Second drive motor; 27. Connecting arm; 28. Clamping arm; 29. Second avoidance hole; 30. C-shaped clamping plate; 31. Double-threaded electric screw rod member; 32. Bearing seat; 33. Link; 34. Fixed seat; 35. Hinged clamping seat; 36. Unloading plate; 37. Second hydraulic push rod; 38. Fourth hinge seat; 39. Fourth embedding groove; 40. Third drive motor; 41. Lifting weighing seat; 42. Second electric jaw. Detailed implementation manners

[0047] The following are specific embodiments of the present invention and in combination with the accompanying drawings, the technical solutions of the present invention are further described, but the present invention is not limited to these embodiments.

[0048] As Figures 1 - 10As shown in the figure, the box AGV transfer vehicle capable of automatically docking for loading and unloading includes an AGV transfer vehicle 1. Support telescopic mechanisms 3 are provided on both the left and right sides of the AGV transfer vehicle 1. Support gripper assemblies 4 are rotatably provided at both ends of the support telescopic rod mechanism 3. Drive motors six are provided at both ends of the support telescopic mechanism 3. The output shafts of the two drive motors six are in transmission connection with the support gripper assemblies 4 at the corresponding positions. A scissor lift assembly 2 is provided on the AGV transfer vehicle 1. Symmetrically arranged robotic arm assemblies 5 are rotatably provided on both the left and right sides of the scissor lift assembly 2. Gripping assemblies 8 are provided on the robotic arm assemblies 5. A discharging assembly 6 is hinged above the scissor lift assembly 2. The width of the scissor lift assembly 2 is equal to the width of the discharging assembly 6. The sum of the width of the scissor lift assembly 2 and the maximum width of the two robotic arm assemblies 5 is less than or equal to the width of the AGV transfer vehicle 1.

[0049] In this embodiment, the staff sets the positions of the box and the box shelf, and then starts the AGV transfer vehicle 1;

[0050] When transporting the box shelf, the AGV transfer vehicle 1 moves to the position of the box shelf. The support telescopic mechanisms 3 on both sides drive the support gripper assemblies 4 at the corresponding positions to move. Subsequently, the output shafts of the four drive motors six drive the support gripper assemblies 4 at the corresponding positions to move to the position of the box shelf frame. The support gripper assemblies 4 move to grip the box shelf frame. After gripping, the AGV transfer vehicle 1 moves, driving the two support telescopic mechanisms 3 and the support gripper assemblies 4 at the corresponding positions to push the box shelf to the set position. The two support telescopic mechanisms 3 and the support gripper assemblies 4 at the corresponding positions return to the initial position, completing one transportation;

[0051] When transporting the floor box, the AGV transfer vehicle 1 moves to the position of the box. The support telescopic mechanisms 3 on both sides drive the drive motors six and the support gripper assemblies 4 at the corresponding positions to move. Subsequently, the output shafts of the four drive motors six drive the support gripper assemblies 4 at the corresponding positions to move. The four support gripper assemblies 4 abut against the ground. Subsequently, the two robotic arm assemblies 5 drive the gripping assemblies 8 at the corresponding positions to move to the position of the box. The two gripping assemblies 8 move to grip the box and place the box on the discharging assembly 6. The two gripping assemblies 8 do not release the grip. Subsequently, the AGV transfer vehicle 1 drives the discharging assembly 6 and the box thereon to move to the set position. When discharging the box, the two robotic arm assemblies 5 move to drive the gripping assemblies 8 at the corresponding positions to move. The two gripping assemblies 8 form a slope at the rear side of the AGV transfer vehicle 1. The discharging assembly 6 moves, and the box thereon slides from the discharging assembly 6 onto the slope. The two robotic arm assemblies 5 and the two gripping assemblies 8 are dynamically adjusted to enable the box to slide quickly and stably from the slope to the set position. The two robotic arm assemblies 5 and the two gripping assemblies 8 return to the initial position, completing one transportation;

[0052] When transporting a high-positioned material box, the AGV carrier 1 moves to the position of the material box. The two support telescopic mechanisms 3 drive the corresponding drive motor six and the support jaw assembly 4 to move. Subsequently, the output shafts of the four drive motors six drive the corresponding support jaw assemblies 4 to move. The four support jaw assemblies 4 abut against the ground. Subsequently, the scissor lift assembly 2 drives the unloading assembly 6, the two robotic arm assemblies 5, and the two clamping assemblies 8 to move upward. Subsequently, the two robotic arm assemblies 5 drive the corresponding clamping assemblies 8 to move to the position of the material box. The two clamping assemblies 8 move to clamp the material box. The two robotic arm assemblies 5 drive the corresponding clamping assemblies 8 and the clamped material box to move and place the material box on the unloading assembly 6. Subsequently, the scissor lift assembly 2 drives the unloading assembly 6, the two robotic arm assemblies 5, the two clamping assemblies 8, and the material box to move downward. The scissor lift assembly 2 returns to the initial position. The two robotic arm assemblies 5 drive the corresponding clamping assemblies 8 to clamp the material box again. Subsequently, the AGV carrier 1 drives the unloading assembly 6 and the material box thereon to move to the set position. The two robotic arm assemblies 5 drive the corresponding clamping assemblies 8 to place the clamped material box at the set position. Subsequently, the two robotic arm assemblies 5 drive the corresponding clamping assemblies 8 to return to the initial position, completing one transportation;

[0053] During transportation, when the weight of the material box exceeds the set value, the transportation stops and an alarm message is sent to remind the staff.

[0054] On both the left and right sides of the AGV carrier 1, there are first embedded grooves 9. The two first embedded grooves 9 are symmetrically arranged. There is a lifting weighing seat 41 on the AGV carrier 1. Between the AGV carrier 1 and the lifting weighing seat 41, there are several weighing sensors. On the upper end surface of the lifting weighing seat 41, there are two symmetrically arranged sliding rails 12, two symmetrically arranged first hinge seats 10, and two symmetrically arranged mounting seats 11 from back to front in sequence. The two mounting seats 11 are located inside the two first hinge seats 10. On the front side of the AGV carrier 1, there is an inclined control computer.

[0055] In this embodiment, the staff sets the parameters on the control computer and then starts the AGV carrier 1. The AGV carrier 1 moves. The lifting weighing seat 41 is used for weighing. When several weighing sensors detect that the pressure exceeds the set value, the transportation is temporarily stopped, and an alarm message is sent to the staff through the control computer. The first embedded groove 9 is used for installing and placing the support telescopic rod assembly 3 and the support jaw assembly 4. The first hinge seat 10 is used for installing the scissor lift assembly 2. The sliding rail 12 facilitates the sliding of the scissor lift assembly 2 to complete the lifting movement. The mounting seat 11 is used for installing the first hydraulic push rod 17.

[0056] The scissor-type lifting assembly 2 includes a scissor-type lifting frame 16, the bottom front side of the scissor-type lifting frame 16 is hinged on two hinged seats 10, the bottom rear side of the scissor-type lifting frame 16 is slidably set in two sliding rails 12, the bottom rear side of the scissor-type lifting frame 16 is hinged with two hydraulic push rods 17, the ends of the two hydraulic push rods 17 are hinged on the mounting seat 11 on the same side, the top of the scissor-type lifting frame 16 is provided with a lifting cover 15, the rear side of the upper end surface of the lifting cover 15 is provided with a hinge seat 2 14, the lifting cover 15 is provided with two symmetrically arranged avoidance holes 18, the inner top of the lifting cover 15 is provided with four bearing seats 13, two bearing seats 13 are grouped together, each group of bearing seats 13 is symmetrically arranged on the left and right sides of the avoidance hole 18 at the corresponding position, and each group of bearing seats 13 is close to the rear end of the avoidance hole 18.

[0057] In this embodiment, the telescopic ends of the two hydraulic push rods 17 drive the rear side of the scissor-type lifting frame 16 to slide on the sliding rail 12, so that the scissor-type lifting frame 16 performs lifting movement, thereby driving the lifting cover 15 to perform lifting movement, the hinge seat 14 is used to install the unloading assembly 6, the avoidance hole 11 facilitates the embedding of the unloading assembly 6, and the bearing seat 13 is used to install the unloading assembly 6.

[0058] The supporting telescopic mechanism 3 includes a driving motor three 40 and two supporting arms 19. The driving motor three 40 is fixed to the upper side of the AGV transport vehicle 1. The two supporting arms 19 are rotatably arranged in the embedding groove one 9 on the same side. The ends of the two supporting arms 19 are synchronously connected to the output shaft of the driving motor three 40. Support telescopic rods 20 are slidably arranged in the support arms 19, and electric telescopic rods are arranged between the support arms 19 and the support telescopic rods 20.

[0059] In this embodiment, the output shaft of the driving motor three 40 drives the two supporting arms 19 to move synchronously out of the embedding slot one 9, and then the two electric telescopic rods drive the supporting telescopic rods 33 at the corresponding positions to move and extend.

[0060] The supporting clamp assembly 4 includes an articulated seat three 21, an electric push rod 23 and a driving motor one 22. The articulated seat three 21 is fixed on the output shaft of the driving motor six, the driving motor one 22 is fixed on the electric push rod 23, the output shaft of the driving motor one 22 is fixedly connected to the articulated seat three 21, and an electric clamp one 24 is fixed on the telescopic end of the electric push rod 23.

[0061] In this embodiment, when supporting the ground, the output shaft of the driving motor 6 drives the articulated seat 3 21 to rotate, and the articulated seat 3 21 drives the electric push rod 23 and the electric clamping claw 1 24 to rotate, so that the electric push rod 23 and the electric clamping claw 1 24 face the ground, and then the telescopic end of the electric push rod 23 drives the electric clamping claw 1 24 to move, so that the electric clamping claw 1 24 contacts the ground;

[0062] When pushing the bin shelf, the output shaft of drive motor six drives the movement of hinge seat three 21, adjusts the positions of hinge seat three 21, electric push rod 23 and electric gripper one 24. The output shaft of drive motor one 22 drives the movement of electric push rod 23 and electric gripper one 24 to adjust the positions. Subsequently, the telescopic end of electric push rod 23 drives electric gripper one 24 to clamp on the bin shelf frame.

[0063] The robotic arm assembly 5 includes a mechanical telescopic arm 25, a drive motor four and a clamping arm 28. The bottom of the mechanical telescopic arm 25 is rotatably arranged on the side of the lifting cover 15. The drive motor four is fixed on the outside of the mechanical telescopic arm 25. The output shaft of the drive motor four is fixed on the side of the lifting cover 15. A drive motor two 26 is fixed on the outside of the end of the mechanical telescopic arm 25. A connecting arm 27 is fixed on the output shaft of the drive motor two 26. A drive motor five is fixed on the outside of the bottom of the clamping arm 28. The output shaft of the drive motor five is fixedly connected to the end of the connecting arm 27. An avoidance hole two 29 is formed inside the clamping arm 28. An electric gripper two 42 is detachably arranged at the end of the clamping arm 28.

[0064] In this embodiment, when the output shaft of the drive motor four rotates, it causes the mechanical telescopic arm 25 and the drive motor four to move in reaction. The mechanical telescopic arm 25 drives the connecting arm 27 and the clamping arm 28 to move. The output shaft of the drive motor two 26 drives the connecting arm 27 to move. The movement of the connecting arm 27 drives the clamping arm 28 to move. When the output shaft of the drive motor five rotates, it causes the clamping arm 28 to move in reaction. The movement of the clamping arm 28 drives the electric gripper two 42 to move. The avoidance hole two 29 is used to install the clamping assembly 8 to facilitate the movement of the clamping assembly 8. The electric gripper two 42 is used to assist in handling the bin and the goods inside the bin.

[0065] The clamping assembly 8 includes two fixed seats 34 and a hinged clamping seat 35. The two fixed seats 34 are fixed inside the clamping arm 28. A double-threaded electric screw rod member 31 is arranged between the two fixed seats 34. Transmission blocks 32 are arranged at both ends of the double-threaded electric screw rod member 31. Two connecting rods 33 are hinged at both ends of the hinged clamping seat 35. The two connecting rods 33 at the same end are hinged to the transmission block 32 at the same end. A C-shaped clamping plate 30 is fixed on the side of the hinged clamping seat 35. A number of rollers are rotatably arranged on the inner end face of the C-shaped clamping plate 30. The number of rollers protrudes from the upper end face of the C-shaped clamping plate 30. When in the unclamped state, the C-shaped clamping plate 30 and the number of rollers thereon are embedded in the avoidance hole two 29, and the C-shaped clamping plate 30 is flush with the inner end face of the clamping arm 28.

[0066] In this embodiment, the double-threaded electric screw rod member 31 drives the two transmission blocks 32 to move in opposite directions. The two transmission blocks 32 drive the connecting rods 33 at the corresponding positions to move. The four connecting rods 33 cooperate to push the hinged clamping seat 35 to move. The hinged clamping seat 35 drives the C-shaped clamping plate 30 to move. The C-shaped clamping plate 30 slides in the avoidance hole two 29 and extends out of the avoidance hole two 29;

[0067] When unloading the material box, the two C-shaped clamping plates 30 move away from the avoidance hole two 29 and cooperate with each other to form a slope. The material box slides into the slope and lands on a number of rollers, and then slides down the slope from the rollers.

[0068] The unloading assembly 6 includes a unloading plate 36. The unloading plate 36 is hinged on the hinge seat two 14. Two symmetrically arranged embedding grooves four 39 are formed on the lower end surface of the unloading plate 36. The embedding grooves four 39 are located directly above the avoidance holes one 18 on the same side. Hinge seats four 38 are fixed at the front ends of the embedding grooves four 39. Hydraulic push rods two 37 are hinged on the hinge seats four 38 respectively. The bottoms of the hydraulic push rods two 37 are hinged on the bearing seats 13 at corresponding positions. A friction cushion plate is detachably arranged on the upper end surface of the unloading plate 36.

[0069] In this embodiment, the staff replaces the appropriate friction cushion plate according to the shape and specification of the material box. When unloading the material box, the telescopic ends of the two hydraulic push rods two 37 extend simultaneously, pushing the hinge seats four 38 at corresponding positions, thereby pushing the unloading plate 36 and the material box thereon, so that the unloading plate 36 forms a certain angle with the upper end surface of the lifting cover. The material box overcomes the friction force with the unloading plate 36, and then the material box slides down from the unloading plate 36. The friction cushion plate adjusts the sliding angle and speed of the material box at the beginning of sliding through the friction force with the material box.

[0070] The working principle of the present invention: The staff sets the parameters on the control computer, replaces the appropriate friction cushion plate according to the shape and specification of the material box, and then starts the AGV carrier 1;

[0071] When carrying the material box shelf, the AGV carrier 1 moves to the position of the material box shelf. The support telescopic mechanisms 3 on both sides drive the support jaw assemblies 4 at corresponding positions to move. That is, the output shafts of the two drive motors three 40 drive the two support arms 19 at corresponding positions to move away from the embedding grooves one 9. Then the four electric telescopic rods drive the support telescopic rods 33 at corresponding positions to extend. Then the output shafts of the four drive motors six drive the hinge seats three 21 at corresponding positions to move, adjusting the positions of the hinge seats three 21, the electric push rods 23 and the electric jaws one 24. The output shafts of the four drive motors one 22 drive the electric push rods 23 and the electric jaws one 24 at corresponding positions to move and adjust the positions. Then the telescopic ends of the electric push rods 23 drive the electric jaws one 24 to clamp on the material box shelf frame at the position of the material box shelf frame. The electric jaws one 24 move to clamp the material box shelf frame. After clamping, the AGV carrier 1 moves, driving the two support telescopic mechanisms 3 and the support jaw assemblies 4 at corresponding positions to push the material box shelf to the set position, completing one transportation;

[0072] When transporting the ground bin, the AGV carrier 1 moves to the bin. The support telescopic mechanisms 3 on both sides drive the corresponding drive motors six and the support jaw assemblies 4 to move. Subsequently, the output shafts of the four drive motors six drive the corresponding support jaw assemblies 4 to move. The four support jaw assemblies 4 abut against the ground. That is, the output shafts of the four drive motors six drive the corresponding hinge seats three 21 to rotate. The four hinge seats three 21 drive the corresponding electric push rods 23 and the electric grippers one 24 to rotate, so that the electric push rods 23 and the electric grippers one 24 face the ground. Subsequently, the telescopic ends of the four electric push rods 23 drive the corresponding electric grippers one 24 to move, so that the electric grippers one 24 abut against the ground. Subsequently, the two robotic arm assemblies 5 drive the corresponding clamping assemblies 8 to move to the bin position. That is, the output shafts of the two drive motors four rotate, and the reaction causes the corresponding mechanical telescopic arms 25 and the drive motors four to move. The two mechanical telescopic arms 25 drive the corresponding connecting arms 27 and the clamping arms 28 to move. The output shafts of the two drive motors two 26 drive the corresponding connecting arms 27 to move. The two connecting arms 27 drive the corresponding clamping arms 28 to move. The output shaft of the drive motor five rotates, and the reaction causes the clamping arm 28 to move. The clamping arm 28 drives the clamping assembly 8 to move. The two clamping assemblies 8 move to clamp the bin and place the bin on the unloading assembly 6. That is, the two double-threaded electric screw rod members 31 drive the two corresponding transmission blocks 32 to move in the opposite direction. The four transmission blocks 32 drive the corresponding connecting rods 33 to move. The four connecting rods 33 on the same side cooperate to push the hinge clamping seats 35 to move. The two hinge clamping seats 35 drive the corresponding C-shaped clamping plates 30 to move. The two C-shaped clamping plates 30 leave the corresponding avoidance holes two 29. The two C-shaped clamping plates 30 cooperate to clamp the bin and place the bin on the unloading plate 36. The two clamping assemblies 8 do not release the clamping. Subsequently, the AGV carrier 1 drives the unloading plate 36 and the bin thereon to move to the set position. When unloading the bin, the two robotic arm assemblies 5 move to drive the corresponding clamping assemblies 8 to move. The two clamping assemblies 8 form a ramp at the rear side of the AGV carrier 1. The unloading assembly 6 moves. That is, the telescopic ends of the two hydraulic push rods two 37 extend simultaneously, pushing the corresponding hinge seats four 38, thereby pushing the unloading plate 36 and the bin thereon, so that the unloading plate 36 forms a certain angle with the upper end surface of the lifting cover. The bin overcomes the friction force between the friction cushion plate on the unloading plate 36. Subsequently, the bin slides from the unloading plate 36 onto the ramp and lands on several rollers. The two robotic arm assemblies 5 and the two clamping assemblies 8 dynamically adjust, so that the bin quickly and stably slides from the several rollers to the set position. The friction cushion plate adjusts the starting sliding angle and the sliding speed of the bin through the friction force with the bin. The two robotic arm assemblies 5 and the two clamping assemblies 8 return to the initial position, completing one transportation;

[0073] When transporting the high-positioned material box, the AGV carrier 1 moves to the position of the material box. The two support telescopic mechanisms 3 drive the corresponding drive motor six and the support jaw assemblies 4 to move. Subsequently, the output shafts of the four drive motors six drive the corresponding support jaw assemblies 4 to move. The four support jaw assemblies 4 abut against the ground. Then, the scissor lift assembly 2 drives the unloading assembly 6, the two robotic arm assemblies 5, and the two clamping assemblies 8 to move upward. That is, the telescopic ends of the two hydraulic push rods 17 drive the rear side of the scissor lift 16 to slide on the sliding rail 12, causing the scissor lift 16 to perform a lifting motion, thereby driving the lifting cover 15 to perform a lifting motion. Subsequently, the two robotic arm assemblies 5 drive the corresponding clamping assemblies 8 to move to the position of the material box. The two clamping assemblies 8 move to clamp the material box. The two robotic arm assemblies 5 drive the corresponding clamping assemblies 8 and the clamped material box to move, and place the material box on the unloading assembly 6. Then, the scissor lift assembly 2 drives the unloading assembly 6, the two robotic arm assemblies 5, the two clamping assemblies 8, and the material box to move downward. The scissor lift assembly 2 returns to the initial position. The two robotic arm assemblies 5 drive the corresponding clamping assemblies 8 to clamp the material box again. Subsequently, the AGV carrier 1 drives the unloading assembly 6 and the material box thereon to move to the set position. The two robotic arm assemblies 5 drive the corresponding clamping assemblies 8 to place the clamped material box at the set position. Then, the two robotic arm assemblies 5 drive the corresponding clamping assemblies 8 to return to the initial position, completing one transportation;

[0074] During transportation, the electric gripper two 42 assists in transporting the material box and the goods inside the material box. When several weighing sensors detect that the pressure exceeds the set value, the transportation is temporarily stopped, and an alarm message is sent to the staff through the control computer.

[0075] In summary, the AGV carrier 1 transports the material box to the set position, and the support telescopic mechanism 3 and the support jaw assembly 4 cooperate to clamp the material box shelf, and cooperate with the AGV carrier 1 to realize the pushing and transporting of the material box shelf;

[0076] The ground is supported by the support telescopic mechanism 3 to ensure the structural stability during the transportation of the material box and prevent tipping;

[0077] Through the cooperation of the robotic arm assembly 5 and the clamping assembly 8, the material box can be automatically transported horizontally, the automatic docking of loading and unloading can be completed, and the material box on the ground can be transported to be placed on the unloading assembly 6, which is convenient for the horizontal transportation of the material box. And the clamping assembly 8 maintains the clamping state during transportation to ensure stable transportation and prevent the material box from falling;

[0078] Through the cooperation of the scissor lift assembly 2 and the unloading assembly 6, the material box is driven to lift, realizing the docking of loading and unloading at different heights;

[0079] The unloading assembly 6 is tilted to make the material box slide onto the slope formed by the cooperation of the robotic arm assembly 5 and the clamping assembly 8 for dynamic adjustment, and the material box is quickly and stably unloaded.

[0080] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Those skilled in the art to which the present invention pertains can make various modifications or supplements to the described specific embodiments or use similar means for substitution, but will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A bin AGV transfer vehicle capable of automatically docking for loading and unloading, comprising an AGV transfer vehicle (1), characterized in that, On both the left and right sides of the AGV carrier (1), there are support telescopic mechanisms (3). At both ends of the support telescopic rod mechanism (3), there are support jaw assemblies (4) rotatably provided. At both ends of the support telescopic mechanism (3), there are driving motors six. The output shafts of the two driving motors six are in transmission connection with the support jaw assemblies (4) at the corresponding positions. On the AGV carrier (1), there is a scissor lift assembly (2). On both the left and right sides of the scissor lift assembly (2), there are symmetrically arranged robotic arm assemblies (5) rotatably provided. Clamping assemblies (8) are provided on the robotic arm assemblies (5). Above the scissor lift assembly (2), there is a discharging assembly (6) hinged. The width of the scissor lift assembly (2) is equal to the width of the discharging assembly (6). The sum of the width of the scissor lift assembly (2) and the maximum width of the two robotic arm assemblies (5) is less than or equal to the width of the AGV carrier (1).

2. The box AGV transporter capable of automatically docking for loading and unloading according to claim 1, characterized in that On both the left and right sides of the AGV carrier (1), there are first embedding grooves (9) opened. The two first embedding grooves (9) are symmetrically arranged. On the AGV carrier (1), there is a lifting weighing seat (41). Between the AGV carrier (1) and the lifting weighing seat (41), there are several weighing sensors. On the upper end surface of the lifting weighing seat (41), from back to front, there are two symmetrically arranged sliding rails (12), two symmetrically arranged first hinge seats (10), and two symmetrically arranged mounting seats (11). The two mounting seats (11) are located inside the two first hinge seats (10). On the front side of the AGV carrier (1), there is an inclined control computer.

3. The bin AGV transporter capable of automatically docking for loading and unloading according to claim 2, wherein The scissor lift assembly (2) includes a scissor lift frame (16). The front side of the bottom of the scissor lift frame (16) is hinged to the two first hinge seats (10). The rear side of the bottom of the scissor lift frame (16) is slidably arranged inside the sliding rail (12). The rear side of the bottom of the scissor lift frame (16) is hinged with two first hydraulic push rods (17). The ends of the two first hydraulic push rods (17) are hinged to the mounting seats (11) on the same side. On the top of the scissor lift frame (16), there is a lifting cover (15). On the rear side of the upper end surface of the lifting cover (15), there is a second hinge seat (14). On the lifting cover (15), there are two symmetrically arranged first avoidance holes (18). On the inner top of the lifting cover (15), there are four bearing seats (13). Two bearing seats (13) form a group. Each group of bearing seats (13) is symmetrically arranged on the left and right sides of the corresponding first avoidance hole (18), and each group of bearing seats (13) is close to the rear end of the first avoidance hole (18).

4. The bin AGV transfer vehicle capable of automatically docking for loading and unloading according to claim 3, wherein, The support telescopic mechanism (3) includes a driving motor three (40) and two support arms (19). The driving motor three (40) is fixed on the upper side part of the AGV carrier (1). The two support arms (19) are rotatably arranged inside the first embedding grooves (9) on the same side. The ends of the two support arms (19) are in synchronous transmission connection with the output shaft of the driving motor three (40). Inside each support arm (19), there is a support telescopic rod (20) slidably arranged. Between the support arm (19) and the support telescopic rod (20), there is an electric telescopic rod.

5. The material box AGV carrier capable of automatically docking for loading and unloading according to claim 4, characterized in that, The said supporting jaw assembly (4) includes a third hinge seat (21), an electric push rod (23) and a first driving motor (22). The third hinge seat (21) is fixed on the output shaft of the sixth driving motor. The first driving motor (22) is fixed on the electric push rod (23). The output shaft of the first driving motor (22) is fixedly connected to the third hinge seat (21). An electric jaw one (24) is fixed on the telescopic end of the electric push rod (23).

6. The material box AGV transporter capable of automatically docking for loading and unloading according to claim 5, wherein, The said robotic arm assembly (5) includes a mechanical telescopic arm (25), a fourth driving motor and a clamping arm (28). The bottom of the mechanical telescopic arm (25) is rotatably arranged on the side of the lifting cover (15). The fourth driving motor is fixed on the outside of the mechanical telescopic arm (25). The output shaft of the fourth driving motor is fixed on the side of the lifting cover (15). A second driving motor (26) is fixed on the outside of the end of the mechanical telescopic arm (25). A connecting arm (27) is fixed on the output shaft of the second driving motor (26). A fifth driving motor is fixed on the outside of the bottom of the clamping arm (28). The output shaft of the fifth driving motor is fixedly connected to the end of the connecting arm (27). An avoidance hole two (29) is provided inside the clamping arm (28). An electric jaw two (42) is detachably provided at the end of the clamping arm (28).

7. The material box AGV transporter capable of automatically docking for loading and unloading according to claim 6, characterized in that, The said clamping assembly (8) includes two fixed seats (34) and a hinged clamping seat (35). The two fixed seats (34) are fixed inside the clamping arm (28). A double-threaded electric lead screw member (31) is arranged between the two fixed seats (34). Transmission blocks (32) are arranged at both ends of the double-threaded electric lead screw member (31). Two connecting rods (33) are hinged at both ends of the hinged clamping seat (35). The two connecting rods (33) at the same end are hinged to the transmission block (32) at the same end. A C-shaped clamping plate (30) is fixed on the side of the hinged clamping seat (35). A number of rollers are rotatably arranged on the inner end face of the C-shaped clamping plate (30). The number of rollers protrudes from the upper end face of the C-shaped clamping plate (30). When in the unclamped state, the C-shaped clamping plate (30) and the number of rollers thereon are embedded in the avoidance hole two (29), and the C-shaped clamping plate (30) is flush with the inner end face of the clamping arm (28).

8. The material box AGV carrier capable of automatically docking for loading and unloading according to claim 7, characterized in that, The said unloading assembly (6) includes an unloading plate (36). The unloading plate (36) is hinged on the second hinge seat (14). Two symmetrically arranged embedding grooves four (39) are provided on the lower end face of the unloading plate (36). The embedding grooves four (39) are directly above the avoidance holes one (18) on the same side. Hinge seats four (38) are fixed at the front end parts of the embedding grooves four (39). Hydraulic push rods two (37) are hinged on the hinge seats four (38). The bottoms of the hydraulic push rods two (37) are hinged on the bearing seats (13) at the corresponding positions. A friction cushion plate is detachably provided on the upper end face of the unloading plate (36).

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