Submersible AGV transportation system for construction site and automatic transportation method thereof

Abstract

The invention provides a submerged AGV transportation system for a construction site and an automatic transportation method thereof.The transportation system comprises a goods frame, a goods shelf and an AGV carrying robot, the bottom of the goods frame is provided with a triangular positioning and limiting structure matched with an oblique beam at the upper end of the goods shelf, and self-guiding, self-centering and falling prevention are achieved when the AGV carrying robot dives and jacks; turnover side frames are arranged on the two sides of the goods frame, a fence is formed when the goods frame is vertically locked, a widened platform is formed after the goods frame is turned down, a continuous handrail is formed on the outer edge, and the goods frame is matched with lateral loading, unloading, binding and fixing of long strips, plates and other materials. Unmanned carrying can be achieved, and compared with an existing plane shelving / manual centering mode, the butt joint reliability and safety under the uneven ground of a construction site and the vibration environment are improved, the loading and unloading takt is shortened, and the labor intensity is reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of engineering logistics equipment and automated handling technology, and particularly relates to a submersible AGV transportation system for a construction site and an automatic transportation method thereof. BACKGROUND

[0002] The materials on a construction site have various forms (profile steel, pipe, ALC plate, door and window frame, and scattered part box, etc.), large size span, and dispersed gravity center, and often need to be loaded and unloaded by a forklift / tower crane in cooperation with manual work. The existing AGV (Automated Guided Vehicle) handling robot is mostly flat-topped bearing or tray type interface, and relies on a planar stopper / lock pin for landing, which is easily affected by uneven ground, impact and vibration to cause misplacement or sliding of goods, and is inconvenient for lateral loading and unloading of long strips and super-wide pieces. Therefore, a solution capable of realizing interfacing self-guiding, reliable anti-falling and adapting to different materials in one frame is urgently needed. SUMMARY

[0003] In view of the deficiencies in the prior art, the present application provides a submersible AGV transportation system for a construction site and an automatic transportation method thereof, which can not only prevent rolling by fencing, but also expand into a widened platform to adapt to long materials / plates, so that the AGV realizes stable, fast and less intervention in the whole process of "submersion-jacking-deracking-re-racking" in the construction site environment.

[0004] The present application realizes the above technical object by the following technical means.

[0005] A submersible AGV transportation system for a construction site, comprising a goods shelf, a goods frame and an AGV handling robot; the goods shelf comprises a plurality of vertical columns arranged in two rows, each row of vertical columns is fixed on a corresponding base, the base is provided with adjustable feet, a cross beam is welded between the top portions of each row of vertical columns, an inclined beam is welded at the corresponding position of the top portion of the cross beam, and a cross beam is also welded between the top portions of each row of inclined beams; the goods frame comprises a bottom square frame to which a plurality of support rods are welded, side railings are fixed on the upper surfaces of the left and right sides of the bottom square frame, lifting rings are arranged on the side railings, isosceles triangular wedges matching the inclined beams are arranged on the left and right sides of the goods frame, and the front and rear sides of the bottom square frame are provided with hinged turnable and openable movable railings, and are provided with secondary locking and mechanical limiting structures; the movable railings become an expanded platform after being turned down and opened, continuous railings are welded near the edges of the left and right sides of the expanded platform, and binding anchor points for binding goods are arranged on the continuous railings; the goods are loaded in the goods frame, the goods frame is placed on the goods shelf, the isosceles triangular wedges are in close contact with the inclined beams, the bottom square frame is in close contact with the surface of the cross beam, and the inner diameter of the bottom square frame matches the size of the jacking platform of the AGV handling robot.

[0006] Further, a diagonal brace is welded between the inclined beam and the vertical column.

[0007] Further, the isosceles triangular wedge is integrally welded or bolted with the goods frame, and a lifting ring is arranged on the isosceles triangular wedge.

[0008] Further, the angle of the bottom inclined surface of the isosceles triangular wedge is 20-30°, and the isosceles triangular wedge is matched with the inclined beam of the goods shelf.

[0009] Further, the landing height of the goods frame on the goods shelf is 990-1100 mm.

[0010] Further, the distance between the landing surface of the goods frame and the initial jacking surface of the AGV carrying robot is 250-300 mm.

[0011] A transportation method using the above-mentioned submersible AGV transportation system for construction sites, comprising the following processes: Inlet navigation: the AGV carrying robot drives into the goods shelf station according to the predetermined path and enters the low-speed mode; Submersible introduction: the jacking platform of the AGV carrying robot is aligned with the bottom passage window of the goods frame and is submerged, and the isosceles triangular wedge on the goods frame is matched with the upper end inclined beam of the goods shelf to realize self-guiding centering; Jacking unlocking: the AGV carrying robot is jacked to lift the goods frame from the goods shelf by a predetermined distance, the goods frame is separated from the goods shelf, and decoupling is completed; Load confirmation: the AGV carrying robot judges whether the load is within the allowable range through the sensor thereon, and if the load is within the allowable range, it is determined to be qualified and enters the transportation state; Unloading and leaving: the AGV carrying robot exits the goods shelf guiding area at low speed and transports according to the task path; Transportation and safety: the upper limit of the speed of the AGV carrying robot and the turning angle are automatically adjusted according to the detected load size, and the highest speed is not more than 5 km / h under the rated load and not more than 1.5 km / h under heavy load; Return to the shelf and landing: enter the destination goods shelf guiding area according to the reverse process, and center, land and decouple in the same way; Exit and reset: the AGV carrying robot retreats and exits the goods shelf station, and the single transportation is completed.

[0012] The present application has the following beneficial effects: More stable docking: geometric self-locking is formed by triangular limiting and inclined beam, and the landing is resistant to vibration and lateral displacement; Faster switching: double-state side frame integration, fence widening without the need to replace accessories; Wider adaptation: the same chassis can meet the transportation of long strips, plates, frames and scattered parts through quick installation of the upper part; when the turned-over side frames on both sides of the goods frame are vertically locked, a fence is formed, and after being turned down, a widened platform is formed and a continuous railing is formed on the outer edge, which can adapt to the lateral loading and unloading and binding and fixing of long strips, plates and other materials; Safer: The entire process of guidance, unlocking, and placement is visualized / sensor-based closed-loop, reducing the risk of human intervention and pinching injuries; More suitable for construction sites: It has a high tolerance for ground undulations and mud and sand, and does not require a high-precision level platform for placement. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the cargo frame movable railing in the closed state according to the present invention; Figure 2 This is a schematic diagram of the cargo frame movable railing in the open state as described in this invention. Figure 3 This is a schematic diagram of the shelf structure described in this invention; Figure 4 This is a schematic diagram illustrating the cooperation between the cargo frame, shelf, and AGV handling robot described in this invention.

[0014] In the diagram: 1-Cargo frame; 101-Bottom square frame; 102-Side railing; 103-Isosceles triangular wedge block; 104-Modible railing; 105-Continuous railing; 2-Shelf; 201-Upright; 202-Diagonal beam; 203-Horizontal beam; 3-AGV handling robot Detailed Implementation

[0015] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the scope of protection of the present invention is not limited thereto.

[0016] like Figures 1 to 4 As shown, the submersible AGV transportation system for construction sites described in this invention includes a geometrically self-guiding / self-centering and anti-fall-off cargo frame-shelf docking structure and a submersible lifting AGV handling robot (hereinafter referred to as AGV handling robot 3). The cargo frame-shelf docking structure is welded from Q345B square steel pipes with a wall thickness ≥3.5 mm, and the surface is treated with hot-dip galvanizing or powder coating. It includes two parts: a cargo frame 1 and a shelf 2.

[0017] like Figure 3 As shown, the shelving unit 2 includes uprights 201, diagonal beams 202, crossbeams 203, diagonal braces, bases, and adjustable feet. Multiple uprights 201 are arranged in two rows, with each row of uprights 201 fixed to a corresponding base. The bases have adjustable feet to adapt to uneven ground. A crossbeam 203 is welded between the tops of each row of uprights 201. A diagonal beam 202 is welded to the corresponding position on the top of each upright 201 on the crossbeam 203. A crossbeam 203 is also welded between the tops of the diagonal beams 202 in each row. Diagonal braces are also welded between the diagonal beams 202 and the uprights 201. The net height of the uprights 201 is 1020mm, and the adjustable height range is 990-1100mm.

[0018] like Figure 1 , 2As shown, the goods frame 1 includes a bottom square frame 101, a plurality of support rods are welded in the center of the bottom square frame 101, side railings 102 are fixed on the upper surfaces of the left and right sides of the bottom square frame 101, lifting rings are arranged on the side railings 102, isosceles triangular wedge blocks 103 are arranged on the left and right sides of the goods frame 1, lifting rings are also arranged on the isosceles triangular wedge blocks 103, the angle of the bottom inclined surface of the isosceles triangular wedge block 103 is 20-30° (preferably 24°), which ensures that the isosceles triangular wedge block 103 is attached to the inclined beam 202 of the goods shelf 2, so that the goods frame 1 can form three constraints (up and down + lateral) when it is positioned on the goods shelf 2, and can be naturally decoupled along the inclined surface when the AGV carrying robot 3 is jacked up; the length of the bottom side of the isosceles triangular wedge block 103 is 150-220 mm, and the thickness is 8-12 mm; the isosceles triangular wedge block 103 is integrally welded or bolted with the goods frame 1. The bottom square frame 101 is hingedly connected with the reversible and open movable railings 104 on the front and rear sides, the opening angle of the movable railings 104 is 170-190° (preferably 180°), and a secondary locking and mechanical limiting structure is arranged (the secondary locking adopts a latch or a rotating latch and is provided with an anti-misopening protection); the movable railings 104 become an outwardly expanded platform after being opened downward, and continuous railings 105 are welded on the outwardly expanded platform near the left and right side edges, and binding anchor points (D-shaped rings or belt holes) are arranged on the continuous railings 105. The outer contour size of the goods frame 1 in the closed state of the movable railings 104 is 1829x880mm (which can be reasonably expanded according to the project in actual application), and the net height of the movable railings 104 and the side railings 102 of the goods frame 1 is 450mm.

[0019] As known from the specification, the jacking platform (panel) size of the AGV carrying robot 3 is 2040x1140mm, the overall height is 933mm, and the maximum jacking stroke is 340mm; therefore, the bottom passage window size of the goods frame 1 (i.e. the inner circle size of the bottom square frame 101) is designed to be 2040±20x1140±10mm (preferably 2040x1140mm); considering that the safety clearance of the inlet is greater than or equal to 50mm, the positioning height of the goods frame 1 on the goods shelf 2 (from the bottom surface to the ground) is set to be 990-1100mm (preferably 1020mm); in order to ensure that the goods frame 1 is lifted away from the goods shelf by more than 20mm to complete the unlocking, the distance between the positioning surface of the goods frame 1 and the initial surface of the jacking of the AGV carrying robot 3 is set to be 250-300mm; the self-weight of the goods frame 1 (statistical value of the three-dimensional model) is about 255kg, and the load limit value during transportation is calculated according to the rated value of 1000kg (preferably) and the maximum value of 2000kg (limited speed and short distance).

[0020] As Figure 4As shown, the goods frame 1 and the goods shelf 2 are assembled to form a goods frame-goods shelf docking structure, specifically, the goods frame 1 is placed on the goods shelf 2, the isosceles triangular wedge 103 of the goods frame 1 is attached to the inclined beam 202 of the goods shelf 2, and the bottom square frame 101 of the goods frame 1 is attached to the surface of the top cross beam 203 of the goods shelf 2, so as to realize self-guiding, self-centering and anti-falling, and after the goods frame 1 and the goods shelf 2 are assembled, the AGV carrying robot 3 is driven in for goods transportation.

[0021] The transportation method of the submersible AGV transportation system for construction sites provided by the application comprises the following processes: Station entry navigation: the AGV carrying robot 3 drives into the goods shelf 2 station according to a predetermined path and enters a low-speed mode; Submersible introduction: the jacking platform of the AGV carrying robot 3 is aligned with the bottom passage window of the goods frame 1 and is submerged, and self-guiding centering is realized by cooperation of the isosceles triangular wedge 103 on the goods frame 1 and the upper end inclined beam 202 of the goods shelf 2; wherein the movable railing 104 of the goods frame 1 is selected to be vertically locked or unfolded by being turned down according to the type of the material before transportation, and the goods are bound and fixed by the binding anchor points on the outer edge continuous railing 105 in the turned-down state; Jacking unlocking: the AGV carrying robot 3 is jacked up, so that the goods frame 1 is lifted away from the goods shelf 2 by a predetermined distance (the lifting distance is greater than or equal to 20 mm), the goods frame 1 is separated from the goods shelf 2, and decoupling is completed; Load confirmation: the AGV carrying robot 3 judges whether the load is within the allowable range through the stroke / pressure / weight sensor thereon, and if the load is within the allowable range, it is determined to be qualified and enters the transportation state; Station exit: the AGV carrying robot 3 exits the goods shelf 2 guiding area at a low speed and transports according to the task path; Transportation and safety: the speed, turning angle and slope are automatically limited according to the type of the material (for example, the rated working condition is less than or equal to 5 km / h, and the heavy load is less than or equal to 1.5 km / h; the allowable slope is less than or equal to 60%); that is, the speed upper limit and the turning angle of the AGV carrying robot 3 are automatically adjusted according to the detected load size, and the maximum speed is not more than 5 km / h under the rated load and not more than 1.5 km / h under the heavy load; Return to the shelf and landing: enter the destination goods shelf 2 guiding area according to the reverse process, and center, land and decouple in the same way; Exit and reset: the AGV carrying robot 3 retreats and exits the goods shelf 2 station, and the single transportation is completed.

[0022] In the above process, visual / reflection identification or RFID for centering is further arranged between the AGV carrying robot 3, the goods frame 1 and the goods shelf 2, the AGV carrying robot 3 is centered based on vision / laser / RTK during the station entry and station exit processes, and automatic back-off and secondary station entry are triggered when the abnormal centering fails.

[0023] The transportation method can be extended to a one-key transformation process of modular upper equipment (A-frame, U-shaped groove support, adjustable saddle, net cage), all of which reuse the same triangular geometric docking and jacking interface. The cargo frame 1 has two reversible side frames on both sides, which form a fence when vertically locked, and become a widened platform after being turned down and form a continuous railing on the outer edge, which can adapt to the lateral loading and unloading and binding of materials such as long strips and boards.

[0024] The above embodiments are preferred embodiments of the present application, but the present application is not limited to the above embodiments, and any obvious improvements, replacements or modifications made by those skilled in the art without departing from the essential content of the present application shall fall within the protection scope of the present application.

Claims

1. A submersible AGV transportation system for construction sites, characterized in that, The system includes a shelving unit (2), a cargo frame (1), and an AGV handling robot (3). The shelving unit (2) includes multiple uprights (201) arranged in two rows. Each row of uprights (201) is fixed to a corresponding base with adjustable feet. A crossbeam (203) is welded between the tops of each row of uprights (201). A diagonal beam (202) is welded to the top of each upright (201) on the crossbeam (203). A crossbeam (203) is also welded between the tops of each row of diagonal beams (202). The cargo frame (1) includes a bottom square frame (101) with multiple support rods welded to the center. Side railings (102) are fixed to the upper surfaces of the left and right sides of the bottom square frame (101). Hanging rings are provided on the side railings (102). The cargo frame (1) is equipped with diagonal beams on both the left and right sides. The beam (202) is matched with the isosceles triangular wedge (103). The bottom square frame (101) is hinged to the front and rear sides with movable railings (104) that can be flipped open. It is equipped with a secondary locking and mechanical limit structure. After the movable railings (104) are flipped down and opened, they become an extended platform. Continuous railings (105) are welded to the left and right edges of the extended platform. The continuous railings (105) are equipped with binding anchor points for binding goods. The goods are loaded in the cargo frame (1). The cargo frame (1) is placed on the shelf (2). The isosceles triangular wedge (103) is in contact with the inclined beam (202). The bottom square frame (101) is in contact with the surface of the crossbeam (203). The inner circle size of the bottom square frame (101) matches the lifting platform size of the AGV handling robot (3).

2. The submersible AGV transportation system for construction sites according to claim 1, characterized in that, A diagonal brace is also welded between the inclined beam (202) and the column (201).

3. The submersible AGV transportation system for construction sites according to claim 1, characterized in that, The isosceles triangular wedge (103) is integrally welded or bolted to the cargo frame (1), and a lifting ring is also provided on the isosceles triangular wedge (103).

4. The submersible AGV transportation system for construction sites according to claim 1, characterized in that, The bottom slope angle of the isosceles triangular wedge (103) is 20-30°, and it fits against the inclined beam (202) of the shelf (2).

5. The submersible AGV transportation system for construction sites according to claim 1, characterized in that, The placement height of the cargo frame (1) on the shelf (2) is 990-1100mm.

6. The submersible AGV transportation system for construction sites according to claim 1, characterized in that, The distance between the landing surface of the cargo frame (1) and the initial lifting surface of the AGV handling robot (3) is 250-300mm.

7. A transportation method using the submersible AGV transportation system for construction sites as described in claim 1, characterized in that, The process includes the following: Inbound navigation: The AGV handling robot (3) drives into the shelf (2) workstation according to the predetermined path and enters low-speed mode; Diving in: The lifting platform of the AGV handling robot (3) is aligned with the bottom passage window of the cargo frame (1) and dives in. With the help of the isosceles triangular wedge (103) on the cargo frame (1) and the upper inclined beam (202) of the shelf (2), self-guiding centering is achieved. Lifting and unlocking: The AGV handling robot (3) lifts the cargo frame (1) away from the shelf (2) by a predetermined distance, and the cargo frame (1) is separated from the shelf (2), thus completing the decoupling; Load confirmation: The AGV handling robot (3) uses its sensors to determine whether the load is within the allowable range. If the load is within the allowable range, it is deemed qualified and enters the transportation state. De-racking and leaving the station: The AGV handling robot (3) exits the shelf (2) guide area at low speed and transports the goods according to the task path; Transportation and Safety: The speed limit and turning angle of the AGV handling robot (3) are automatically adjusted according to the detected load size. The maximum speed does not exceed 5 km / h under rated load and does not exceed 1.5 km / h under heavy load. Return to shelf and place: Follow the reverse process to enter the destination shelf (2) guide area, center, place and decouple in the same way; Exit and reset: The AGV handling robot (3) moves backward and exits the shelf (2) workstation, and the single transport ends.

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