AGV (Automatic Guided Vehicle) with cargo self-stabilizing function

Abstract

The invention relates to the technical field of AGVs, and provides an AGV with a cargo self-stabilizing function, which comprises a self-driven vehicle body module, an intelligent sensing module, a self-adaptive clamp assembly, a supporting plate and a telescopic piece, and is characterized in that the intelligent sensing module is used for scanning the contour of a steel pipe, calculating the length of the current section of the steel pipe or the span L of a storage rack and identifying the step position; the self-adaptive clamp assembly is used for calculating the diameter of the current section of a steel pipe and comprises a driving module, a transmission module, a clamp module and an adjusting module, the clamp module comprises a bearing frame and a three-jaw reducing clamp, and longitudinally-distributed clamping jaws and an air cylinder are integrated with a pressure sensor and a displacement sensor respectively. The two sets of pressure sensors below the same steel pipe are used for collecting supporting force F1 and F2 respectively, the two sets of displacement sensors below the same steel pipe are used for collecting coordinates (X1 and Z1) and coordinates (X2 and Z2) of the three-jaw reducing clamp respectively, and the three-jaw reducing clamp has the advantages of being capable of achieving self-adaptive adjustment of the gravity center, good in stability and low in maintenance cost.

Description

Technical Field

[0001] This invention relates to the field of AGV (Automated Guided Vehicle) transporter technology, specifically to an AGV transporter with a cargo self-stabilization function. Background Technology

[0002] Steel pipes are a common raw material used in industries such as construction and machining. After leaving the factory, they are first laid flat on the surface of the shelf. Then, AGV transport vehicles are used to pick up the steel pipes from the shelf surface and transport them to the designated location along a designated path.

[0003] A search revealed that CN113023620B discloses an AGV (Automated Guided Vehicle) trolley, comprising: a chassis; a traveling mechanism mounted on the chassis to enable the AGV trolley to travel; and a support component including a pallet, a slewing component, and a lifting mechanism. The pallet is connected to the lifting mechanism via the slewing component. The lifting mechanism is mounted on the chassis and includes a lifting drive mechanism and a lifting mechanism. The lifting drive mechanism is connected to the slewing component via the lifting mechanism to drive the slewing component and the pallet to lift and lower. The slewing component drives the pallet to rotate relative to the chassis.

[0004] The existing AGV transport vehicle still has the following defects: (1) When transporting steel pipes, especially stepped (variable diameter) steel pipes, the irregular shape of the steel pipe makes it difficult to determine the center of gravity, which makes it easy to roll and slip during transportation, causing safety hazards; (2) During the transport process, when the center of gravity of the steel pipe is not between the two clamps, it is impossible to make adaptive adjustments according to the specific geometric characteristics (such as the step position) and center of gravity of each steel pipe, resulting in unstable clamping, and it is easy to tilt due to the shift of the center of gravity during transportation. Summary of the Invention

[0005] The purpose of this invention is to provide an AGV transport vehicle with a self-stabilizing cargo function, which aims to solve the problems existing in the current AGV transport vehicles.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an AGV transport vehicle with a self-stabilizing cargo function, comprising a self-driven vehicle body module, a pallet, and a telescopic component, wherein the telescopic component is disposed between the pallet and the self-driven vehicle body module, and further comprising:

[0007] The intelligent sensing module is installed on the surface of the pallet. The intelligent sensing module is used to scan the outline of the steel pipe, calculate the current length of the steel pipe or the span L of the shelf, identify the position of the step, and calculate the current diameter of the steel pipe.

[0008] An adaptive clamp assembly symmetrically arranged inside the pallet includes a drive module, a transmission module, a clamp module, and an adjustment module. The clamp module includes a support frame and a three-jaw variable diameter clamp. The three-jaw variable diameter clamp is located above the support frame and includes jaws and a cylinder. The cylinder is fixedly connected to the jaws. The longitudinally distributed jaws and cylinders are integrated with pressure sensors and displacement sensors, respectively. Two sets of pressure sensors below the same steel pipe are used to collect the support forces F1 and F2, respectively. Two sets of displacement sensors below the same steel pipe are used to collect the coordinates (X1, Z1) and (X2, Z2) of the three-jaw variable diameter clamp, respectively. X1 and X2 are the horizontal distances between the three-jaw variable diameter clamp and the center of the pallet, and Z1 and Z2 are the heights of the longitudinally distributed jaws.

[0009] The support frame is connected to the transmission module, and the adjustment module can control the transmission connection between several transmission modules and the drive module. The transmission module is used to drive several sets of clamp modules to move.

[0010] The beneficial effects of this invention are as follows: Through the design of intelligent sensing, optimal gripping point decision and mechanical adaptive adjustment mechanism, this application can ensure that the center of gravity of each steel pipe is always distributed between the two sets of clamps throughout the entire process from picking up the material from the shelf to transportation. This solves the problems of unstable center of gravity and uneven force on the clamps during steel pipe handling. Through the innovative transmission and adjustment module design, the maintenance cost of AGV transport vehicle is reduced and the reliability is improved. It has the characteristics of adaptive center of gravity adjustment, good stability and low maintenance cost. Attached Figure Description

[0011] Figure 1 This is a perspective view of the present invention.

[0012] Figure 2 This is a front view of the present invention.

[0013] Figure 3 This is an exploded view of the present invention.

[0014] Figure 4 This is an exploded view of the adaptive fixture assembly according to an embodiment of the present invention.

[0015] Figure 5 This is a side view of the fixture module according to an embodiment of the present invention.

[0016] Figure 6 This is a partial planar sectional view of the present invention.

[0017] Figure 7 This is a schematic diagram of the first plane for material handling using a clamp module according to the present invention.

[0018] Figure 8 This is a schematic diagram of the second plane for material handling using a clamp module according to the present invention.

[0019] Figure 9 This is a schematic diagram of the intelligent sensing module in an embodiment of the present invention.

[0020] Figure 10 This is a schematic diagram illustrating the working principle of the present invention.

[0021] Reference numerals: 1 - Self-driving vehicle body module;

[0022] 2-Panel, 21-Guide rail, 22-Receiving slot;

[0023] 3-Expansion joint;

[0024] 4-Intelligent sensing module;

[0025] 5-Adaptive clamp assembly; 51-Drive module; 511-Driving gear; 512-Driven gear; 513-Gear belt; 52-Transmission module; 521-Threaded rod; 522-Transmission gear; 523-Key bar; 53-Clamping module; 531-Bearing frame; 532-Three-jaw variable diameter clamp; 5321-Clamping jaw; 5322-Cylinder; 54-Adjustment module; 541-Conductive component; 542-Electromagnet; 543-Spring; 6-Maintenance cover plate;

[0026] 7-Power supply module;

[0027] 8-Shelf;

[0028] 9-Steel pipe. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0030] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0031] Please see Figures 1 to 9 In one embodiment of the present invention, an AGV transport vehicle with a self-stabilizing cargo function includes a self-driven vehicle body module 1, a pallet 2, and a telescopic component 3. The telescopic component 3 is a scissor lift, characterized by smooth lifting and high load capacity. The telescopic component 3 is disposed between the pallet 2 and the self-driven vehicle body module 1. The vehicle also includes:

[0032] The intelligent sensing module 4 is set on the surface of the pallet 2. The intelligent sensing module 4 is used to scan the outline of the steel pipe 9, calculate the current length of the steel pipe 9 or the span L of the shelf 8, identify the step position, and calculate the current diameter of the steel pipe 9.

[0033] An adaptive clamp assembly 5 is symmetrically arranged inside the pallet 2. The adaptive clamp assembly 5 includes a drive module 51, a transmission module 52, a clamp module 53, and an adjustment module 54. The clamp module 53 includes a support frame 531 and a three-jaw variable diameter clamp 532. The three-jaw variable diameter clamp is arranged above the support frame 531. The three-jaw variable diameter clamp includes jaws 5321 and cylinders 5322. Each cylinder 5322 is fixedly connected to a set of jaws 5321. The longitudinally distributed jaws 5321 and cylinders 5322 are respectively integrated with pressure sensors and displacement sensors. Two sets of pressure sensors under the same steel pipe 9 are used to collect the support forces F1 and F2, respectively. Two sets of displacement sensors under the same steel pipe 9 are used to collect the coordinates (X1, Z1) and (X2, Z2) of the three-jaw variable diameter clamp, respectively. X1 and X2 are the horizontal distances between the three-jaw variable diameter clamp and the center of the pallet 2, and Z1 and Z2 are the heights of the longitudinally distributed jaws 5321.

[0034] The support frame 531 is connected to the transmission module 52. The adjustment module 54 can control the transmission connection between several transmission modules 52 and the drive module 51. The transmission module 52 is used to drive several sets of clamp modules 53 to move.

[0035] Please see Figures 2 to 6 Furthermore, the surface of the tray 2 is provided with a guide rail 21, a receiving groove 22 and a battery slot. A power module 7 is installed in the battery slot. A maintenance cover 6 is fixedly installed on the receiving groove 22 and above the battery. The drive module 51 is disposed in the receiving groove 22. The drive module 51 includes a drive gear 511, a driven gear 512 and a toothed belt 513. The toothed belt 513 is drivenly connected between the drive gear 511 and the driven gear 512.

[0036] Please see Figures 3 to 6 Furthermore, the transmission module 52 includes a threaded rod 521, a transmission gear 522, and a key bar 523. The threaded rod 521 is disposed inside the guide rail 21, and a key bar 523 is disposed at the end of the threaded rod 521. The transmission gear 522 is sleeved on the surface of the threaded rod 521 and the key bar 523. The driven gear 512 can be drivenly connected to the transmission gear 522. The support frame 531 is threadedly connected to the surface of the threaded rod 521.

[0037] Please see Figures 3 to 6Furthermore, the adjustment module 54 includes a conductive element 541, an electromagnet 542, and a spring 543. The conductive element 541 is disposed in the receiving groove 22. Several electromagnets 542 are integrated on the surface of the conductive element 541. An electronic switch is provided between each electromagnet 542 and the conductive element 541. The on / off state of the electromagnet 542 is controlled by controlling the electronic switch. The electromagnet 542 can make magnetic contact with the transmission gear 522. The spring 543 is connected between the receiving groove 22 and the transmission gear 522.

[0038] In this embodiment of the invention, the adjustment module 54 controls the engagement and disengagement of the transmission gear 522 and the toothed belt 513 by controlling the on / off state of the electromagnet 542. When the position of a clamp needs to be adjusted, the electromagnet 542 corresponding to the clamp is de-energized, and the spring 543 pushes the transmission gear 522 to engage with the toothed belt 513. At this time, the drive module 51 can drive the transmission gear 522 to rotate through the toothed belt 513, thereby driving the threaded rod 521 to rotate, causing the clamp module 53 to move along the guide rail 21. After the adjustment is in place, the electromagnet 542 is energized, attracting the transmission gear 522 to disengage from the toothed belt 513, thus locking the position of the threaded rod 521.

[0039] Alternatively, the drive module 51, transmission module 52, and adjustment module 54 can be replaced with electric telescopic rods. Each clamping module 53 can be moved individually using the electric telescopic rods. However, compared to mechanical parts, the electric telescopic rods and drive motors are both consumable parts as electronic products. In particular, there are many electric telescopic rods, and the replacement cost is high when they are damaged. Users can choose this option themselves. When both the electric telescopic rods and drive motors are damaged and cannot be replaced, the threaded rod 521 can still be rotated using tools, and the clamping module 53 can be moved precisely to the designated position and prevented from deviating. However, the electric telescopic rods cannot continue the above operations. In this way, the clamping modules 53 can only continue to maintain their original state and cannot be completely reset. Compared with the traditional method of using electric telescopic rods to control the horizontal movement of the clamping modules 53 individually, the solution of this application has the characteristics of low cost, good stability, and easy maintenance.

[0040] Please see Figures 7 to 10 In one embodiment of the present invention, the intelligent sensing module 4 includes a 3D visual scanning camera, an optimal grasping point generation unit, and a control unit. The 3D visual scanning camera is used to generate a point cloud model of the steel pipe 9, identify the central axis and step position of each steel pipe 9, and calculate the current segment length L, the current segment diameter of the steel pipe 9, and the length corresponding to different diameters. When the steel pipe 9 does not have a step feature, the current segment diameter of the steel pipe 9 is only one. When the steel pipe 9 has a step feature, the current segment diameter of the steel pipe 9 is not less than two.

[0041] The center of gravity coordinate calculation unit is used to calculate the parameters of L1 and L2 based on the geometric relationship L1+L2=X1+X2 and the principle of mechanical equilibrium (F1*L1=F2*L2). (Where L1 is the set distance between one side gripper 5321 and the center of gravity of the steel pipe 9, and L2 is the set distance between the other side gripper 5321 and the center of gravity of the steel pipe 9, L2=F1*(X1+X2-L2) / F1). With the center of the pallet 2 as the reference, the center of gravity coordinates G(|X2-L2|,H) of the steel pipe 9 are obtained according to L1 and L2 to ensure that the center of gravity of the steel pipe 9 is between the two grippers during transportation, avoiding tilting problems caused by the shift of the center of gravity. Here, H is the height of the steel pipe 9 on the shelf 8. It should be noted that X1 and X2 are both less than L / 2 to prevent interference between the gripper module 53 and the shelf 8.

[0042] The optimal gripping point generation unit is used to analyze the size of L1, L2 and X1. Under the premise that the steel pipe 9 does not have a stepped feature, when L1>X1>L2, the coordinates (X1, Z1) are directly output as the first optimal gripping point. According to F1=F2, the coordinates of the second optimal gripping point (L1+X2-L2,Z1) are output.

[0043] Under the premise of confirming that the steel pipe 9 has a stepped feature, the gripper 5321 on one side of the large diameter is taken as the first optimal gripping point. The coordinates of the second optimal gripping point are output according to F1=F2. The large diameter section is preferred as the main gripping point because the large diameter section is usually more stable and can avoid the gripper 5321 getting stuck at the step and causing interference.

[0044] The control unit is used to control the horizontal movement of the gripper 5321 according to the coordinates of the second optimal gripping point. On the one hand, this can improve the stability of the steel pipe 9 during transportation, and on the other hand, it can reduce the probability of damage due to uneven force on the two sets of grippers 5321.

[0045] In this embodiment of the invention, when L1+X2-L2>L / 2 in the second optimal gripping point coordinates, and with the center of gravity of the steel pipe 9 distributed between the two sets of grippers 5321, the three-jaw variable diameter clamp 532 supports the steel pipe 9 upwards. The self-driven vehicle module 1 moves all the steel pipes 9 out of the shelf 8. One set of three-jaw variable diameter clamps is used to fix the steel pipe 9, and the other set of three-jaw variable diameter clamps is controlled to move. The moving steps are as follows: First, the electromagnet 542 corresponding to the three-jaw variable diameter clamp is de-energized. Due to the elastic force of the spring 543, the transmission gear 522 moves to fit against the inner wall of the receiving groove 22. When the steel pipe 9 is in the correct position, the toothed belt 513 is connected to the transmission gear 522. Then, the drive module 51 can independently control the rotation of the threaded rod 521 to drive the three-jaw reducing clamp to move, so as to adjust the center of gravity of the steel pipe 9 to the middle position of the two sets of three-jaw reducing clamps. Then, the electromagnet 542 is energized. After being energized, the electromagnet 542 magnetically attracts the transmission gear 522. At this time, the transmission gear 522 can automatically disengage from the toothed belt 513. The modular adaptive clamp assembly 5 can simultaneously control multiple clamp modules 53 to make adaptive adjustments according to the center of gravity coordinates of each horizontally placed round pipe.

[0046] When the two sets of three-jaw variable diameter clamps are distributed on both sides of the stepped position of the steel pipe 9, the height of the longitudinally distributed clamps 5321 or the radial position of the three sets of clamps 5321 is controlled by the cylinder 5322 according to the diameter of the steel pipe 9 on both sides of the stepped position. During the stage when the telescopic component 3 controls the rise of the support plate 2, it is not only used to ensure that the supported steel pipe 9 is in a horizontal state, but also to prevent the clamps 5321 from interfering with the stepped position when adjusting the coordinates of the clamps 5321 horizontally.

[0047] During transportation, if the pressure sensor detects uneven force on both sides (i.e., center of gravity shift), adjustments can be made in real time. The specific steps are as follows: after moving the steel pipe 9 out of the shelf 8, fix one side clamp, and finely adjust the position of the other side clamp through the above-mentioned transmission mechanism until the force on both sides is balanced (F1=F2). This dynamic adjustment ensures the stability of transportation.

[0048] In summary, this application, through the design of intelligent sensing, optimal gripping point decision and mechanical adaptive adjustment mechanism, can ensure that the center of gravity of each steel pipe 9 is always distributed between the two sets of clamps throughout the entire process from picking up the material from the rack 8 to transportation. This solves the problems of unstable center of gravity and uneven force on the clamps during the handling of steel pipe 9. Through the innovative design of transmission and adjustment module 54, the maintenance cost of AGV transport vehicle is reduced and the reliability is improved. It has the characteristics of adaptive center of gravity adjustment, good stability and low maintenance cost.

[0049] While several embodiments and examples of the present invention have been described for those skilled in the art, these embodiments and examples are provided as examples and are not intended to limit the scope of the invention. These new embodiments can be implemented in various other ways, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention.

[0050] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An AGV (Automated Guided Vehicle) with self-stabilizing cargo function, comprising a self-driven vehicle body module (1), a pallet (2), and a telescopic component (3), wherein the telescopic component (3) is disposed between the pallet (2) and the self-driven vehicle body module (1), characterized in that, Also includes: The intelligent sensing module (4) is set on the surface of the tray (2). The intelligent sensing module (4) is used to scan the outline of the steel pipe (9), calculate the current segment length of the steel pipe (9) or the span L of the shelf (8), identify the step position, and calculate the current segment diameter of the steel pipe (9). An adaptive clamping assembly (5) is symmetrically arranged inside the pallet (2). The adaptive clamping assembly (5) includes a drive module (51), a transmission module (52), a clamping module (53), and an adjustment module (54). The clamping module (53) includes a support frame (531) and a three-jaw variable diameter clamp (532). The three-jaw variable diameter clamp is arranged above the support frame (531) and includes a jaw (5321) and a cylinder (5322). The cylinder (5322) and the jaw (5321) are connected. The fixed connection, the longitudinally distributed grippers (5321) and cylinder (5322) are respectively integrated with pressure sensors and displacement sensors. The two sets of pressure sensors under the same steel pipe (9) are used to collect the support forces F1 and F2 respectively. The two sets of displacement sensors under the same steel pipe (9) are used to collect the coordinates (X1, Z1) and (X2, Z2) of the three-jaw variable diameter clamp respectively. X1 and X2 are the horizontal distances between the three-jaw variable diameter clamp and the center of the pallet 2, and Z1 and Z2 are the heights of the longitudinally distributed grippers (5321). The support frame (531) is connected to the transmission module (52), and the adjustment module (54) can control the transmission connection between several transmission modules (52) and the drive module (51). The transmission module (52) is used to drive several sets of clamp modules (53) to move.

2. The AGV transporter with cargo self-stabilization function according to claim 1, characterized in that, The intelligent sensing module (4) includes: A 3D vision scanning camera is used to generate a point cloud model of the steel pipe (9), identify the central axis and step position of each steel pipe (9), and calculate the current segment length L, the current segment diameter of the steel pipe (9), and the length corresponding to different diameters. The center of gravity coordinate calculation unit is used to calculate the parameters of L1 and L2 according to L1+L2=X1+X2 and F1*L1=F2*L2, where L1 is the set distance between the center of gravity of one side gripper (5321) and the center of gravity of the steel pipe (9), and L2 is the set distance between the center of gravity of the other side gripper (5321) and the center of gravity of the steel pipe (9). L2=F1*(X1+X2-L2) / F1. Under the premise of taking the center of the pallet (2) as the reference, the center of gravity coordinates of the steel pipe (9) G(|X2-L2|,H) are obtained according to L1 and L2, where H is the height of the steel pipe (9) on the shelf (8); The optimal gripping point generation unit is used to analyze the size of L1, L2 and X1. Under the premise that the steel pipe (9) does not have a step feature, when L1>X1>L2, the coordinates (X1, Z1) are directly output as the first optimal gripping point. According to F1=F2, the coordinates of the second optimal gripping point (L1+X2-L2,Z1) are output. Under the premise of confirming that the steel pipe (9) has a stepped feature, the one-sided gripper (5321) distributed at the large diameter is taken as the first optimal gripping point, and the coordinates of the second optimal gripping point are output according to F1=F2; The control unit controls the gripper (5321) to move horizontally based on the coordinates of the second optimal gripping point.

3. The AGV transport vehicle with cargo self-stabilization function according to claim 2, characterized in that, When L1+X2-L2>L / 2 in the second optimal gripping point coordinates, under the premise that the center of gravity of the steel pipe (9) is distributed between the two sets of grippers (5321), the self-driven vehicle module (1) is used to move all the steel pipes (9) out of the shelf (8), and one set of three-jaw variable diameter clamps is used to fix the steel pipe (9), and the other set of three-jaw variable diameter clamps is controlled to move, so as to adjust the center of gravity of the steel pipe (9) to the middle position of the two sets of three-jaw variable diameter clamps.

4. The AGV transport vehicle with cargo self-stabilization function according to claim 3, characterized in that, When the two sets of three-jaw variable diameter clamps are distributed on both sides of the stepped position of the steel pipe (9), the height of the longitudinally distributed clamps (5321) is controlled by the cylinder (5322) according to the diameter of the steel pipe (9) on both sides of the stepped position. During the stage when the telescopic component (3) controls the rise of the support plate (2), it is not only used to ensure that the supported steel pipe (9) is in a horizontal state, but also to prevent the clamps (5321) from interfering with the stepped position when adjusting the coordinates of the clamps (5321) horizontally.

5. An AGV transporter with cargo self-stabilization function according to claim 1, characterized in that, The surface of the pallet (2) is provided with a guide rail (21) and a receiving groove (22). The drive module (51) is disposed in the receiving groove (22). The drive module (51) includes a driving gear (511), a driven gear (512) and a toothed belt (513). The toothed belt (513) is connected between the driving gear (511) and the driven gear (512).

6. An AGV transporter with cargo self-stabilization function according to claim 5, characterized in that, The transmission module (52) includes a threaded rod (521), a transmission gear (522), and a key bar (523). The threaded rod (521) is disposed inside the guide rail (21), and a key bar (523) is disposed at the end of the threaded rod (521). The transmission gear (522) is sleeved on the surface of the threaded rod (521) and the key bar (523). The driven gear (512) can be connected to the transmission gear (522) for transmission. The support frame (531) is threadedly connected to the surface of the threaded rod (521).

7. An AGV transporter with cargo self-stabilization function according to claim 6, characterized in that, The adjustment module (54) includes a conductive element (541), an electromagnet (542), and a spring (543). The conductive element (541) is disposed in the receiving groove (22). Several electromagnets (542) are integrated on the surface of the conductive element (541). An electronic switch is provided between each electromagnet (542) and the conductive element (541). The electromagnet (542) can make magnetic contact with the transmission gear (522). The spring (543) is connected between the receiving groove (22) and the transmission gear (522).

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