Automatic guide carrying equipment for vertically clamping cylindrical goods for transportation

Abstract

The invention relates to the technical field of automatic guide carrying equipment, and discloses automatic guide carrying equipment for vertically clamping cylindrical goods for transportation, which comprises a bottom frame, a longitudinal frame is arranged on the bottom frame, and the bottom frame is provided with a fork arm carrier; a pressing plate is arranged on the longitudinal frame; a plurality of bottom rollers are arranged on the fork arm carrier, and bottom exposing sections are formed at the upper parts of the bottom rollers; a plurality of top rollers are arranged on the pressing plate, and top exposing sections are formed at the lower parts of the top rollers; when the cylindrical goods are placed in the longitudinal area, the fork arm carrier and the pressing plate longitudinally and oppositely clamp the cylindrical goods; the bottom exposing sections apply backward bottom supporting force to the bottom of the cylindrical goods, and the top exposing sections apply backward top abutting force to the top of the cylindrical goods, so that the cylindrical goods are stably placed in the longitudinal area, the cylindrical goods are prevented from toppling forwards, and the cylindrical goods are stably placed in the longitudinal area.

Description

Technical Field

[0001] This invention relates to the technical field of automated guided transport equipment, and more specifically, to automated guided transport equipment for transporting cylindrical goods by clamping them from above and below. Background Technology

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

[0003] In order to move goods more efficiently, more and more warehouses are equipped with automated guided vehicles (AGVs) to enable automated goods movement within the warehouse.

[0004] In the prior art, automated guided vehicles (AGVs) include a vehicle body with fork carriages. The fork carriages are inserted into the bottom of cylindrical goods to support them, and the vehicle body moves automatically to guide the goods, thus enabling the transport of goods.

[0005] However, for cylindrical goods, it is difficult to clamp and fix them when they are placed longitudinally on the fork carriage, resulting in unstable handling of cylindrical goods during transportation. Summary of the Invention

[0006] The purpose of this invention is to provide an automated guided handling device for transporting cylindrical goods by clamping them from above and below, aiming to solve the problem of unstable transport of cylindrical goods in existing automated guided handling devices. This invention is achieved as follows: the automated guided handling device for transporting cylindrical goods by clamping them from above and below is characterized by comprising a movable bottom frame, on which a longitudinally arranged longitudinal frame is provided. The bottom frame has two spaced-apart fork carriages that abut against the cylindrical goods from bottom to top; a longitudinally movable pressure plate is provided on the longitudinal frame, the pressure plate being located above the fork carriages; a longitudinal region for accommodating the cylindrical goods is formed between the pressure plate and the fork carriages. The fork carriage is provided with multiple bottom rollers. The lower part of the bottom rollers is embedded in the fork carriage, and the upper part of the bottom rollers is exposed on the fork carriage, forming a bottom exposed section. Along the fork carriage from front to back, the height of the bottom exposed section gradually decreases. The pressure plate is provided with multiple top rollers. The upper part of the top rollers is embedded in the pressure plate, and the lower part of the top rollers is exposed on the pressure plate, forming a top exposed section. Along the pressure plate from front to back, the height of the top exposed section gradually decreases. When the cylindrical cargo is placed in the longitudinal region, the bottom of the cylindrical cargo is placed on the fork carriage, and the pressure plate presses against the cylindrical cargo from top to bottom. The fork carriage and the pressure plate clamp the cylindrical cargo longitudinally towards each other. The plurality of bottom exposed sections abut against the bottom of the cylindrical cargo from bottom to top, applying a rearward bottom support force to the bottom of the cylindrical cargo; the plurality of top exposed sections abut against the top of the cylindrical cargo from top to bottom, applying a rearward top pressure force to the top of the cylindrical cargo.

[0007] Furthermore, the longitudinal frame is formed in the middle of the bottom frame, the fork carriage and the pressure plate extend forward, the longitudinal region is formed at the front end of the longitudinal frame, and the rear end of the longitudinal frame is provided with a rear end region, the rear end region being provided with a counterweight structure.

[0008] Furthermore, the lower part of the longitudinal frame is provided with a bottom back plate, which is arranged facing the lower part of the longitudinal region; a top back plate is connected to the pressure plate, which is arranged facing the upper part of the longitudinal region; when the cylindrical goods are placed in the longitudinal region, the rear end of the cylindrical goods rests against the bottom back plate and the top back plate respectively.

[0009] Furthermore, the bottom frame has side arms on both sides, the side arms extend in the same direction as the fork carriage, the two fork carriages are located between the two side arms, and the height of the side arms is higher than the height of the fork carriages.

[0010] Furthermore, the top of the side arm extends upward to form an upper section above the fork carriage, which elastically abuts against the outer periphery of the cylindrical cargo when it is placed in the longitudinal region.

[0011] Furthermore, the upper section is provided with an inclined channel arranged at an angle, and the depth of the inclined channel gradually decreases along the upper section from front to back; the inclined section is provided with a movable side abutment, the side abutment having an exposed head extending out of the inclined channel, the exposed head having an arc-shaped surface; the upper section is provided with a motor, the motor driving the side abutment to move in the inclined channel. When the cylindrical cargo is placed in the longitudinal region, the motor-driven side abutment moves from front to back, and the inclined guide head extends out of the inclined channel so that the arc-shaped surface abuts against the front end of the cylindrical cargo, applying a rearward front abutment pressure to the cylindrical cargo.

[0012] Furthermore, the arc-shaped surface is covered with a pressure-resistant elastic layer that presses against the front end of the cylindrical cargo.

[0013] Furthermore, the outer periphery of the bottom frame is provided with an outwardly protruding arm, which is arranged in an arc shape along the outer periphery of the bottom frame; the protruding arm is wrapped with an outer elastic layer made of elastic material, which covers the outer periphery of the protruding arm; the inner end of the outer elastic layer forms a solid segment, which is embedded in the protruding arm and fixedly connected to the protruding arm; The outer end of the elastic layer forms a hollow segment, which surrounds a hollow cavity that extends along the outer periphery of the protruding arm.

[0014] Furthermore, an elastic sheet is provided in the hollow cavity, a fixed section is formed in the middle of the elastic sheet, the fixed section extends into the solid section and is integrated with the solid section; inclined elastic sections are formed on both sides of the elastic sheet, the inner end of the elastic section is connected to the fixed section, and the outer end of the elastic section extends outward away from the fixed section. The two elastic segments are arranged at an angle away from each other, and the outer ends of the elastic segments move against the inner wall of the hollow cavity; the two elastic segments surround an elastic space with an outer opening, and the outer opening is arranged away from the protruding arm.

[0015] Furthermore, the middle part of the pressure plate is hollowed out, forming a central hole arranged longitudinally through it; a counterweight plate is provided on the top of the pressure plate, and a top elastic layer is connected between the counterweight plate and the pressure plate to make the counterweight plate and the pressure plate elastically connected. The counterweight plate has a counterweight protrusion extending downwards from its bottom. The counterweight protrusion passes through the central hole and is spaced apart from the inner sidewall of the central hole. The bottom of the counterweight protrusion is flat, forming the bottom surface of the counterweight, and the outer periphery of the counterweight protrusion is arc-shaped. The bottom surface of the counterweight is provided with a plurality of rolling balls, the upper part of which is movably embedded in the counterweight protrusion, and the lower part of which protrudes from the bottom surface of the counterweight. When the cylindrical cargo is placed in the longitudinal region, the pressure plate abuts against the top of the cylindrical cargo from top to bottom, and multiple balls simultaneously press against the top of the cylindrical cargo from top to bottom, and the top elastic layer is in an elastic compression state.

[0016] Compared with the prior art, the automatic guiding and handling equipment for transporting cylindrical goods by clamping them from top to bottom provided by the present invention, when the cylindrical goods are placed in the longitudinal region, the pressure plate presses against the cylindrical goods from top to bottom, and the fork carriage supports the cylindrical goods from bottom to top, so as to achieve longitudinal clamping and fixing of the cylindrical goods, so that the cylindrical goods are stably placed in the longitudinal region. Secondly, multiple exposed bottom sections apply a rearward bottom support force to the cylindrical goods, and multiple exposed top sections apply a rearward top resistance force to the cylindrical goods, so that the bottom resistance force is applied backward. During the movement of the automatic guide conveyor, the cylindrical goods are prevented from tipping forward, so that the cylindrical goods are stably placed in the longitudinal area. Attached Figure Description

[0017] Figure 1 This is a three-dimensional schematic diagram of the automatic guiding and handling equipment for transporting cylindrical goods by clamping them from above and below, provided by the present invention. Figure 2 This is a schematic diagram of the structure provided by the present invention, showing the pressure plate and the fork carriage clamping each other towards each other; Figure 3 This is an internal schematic diagram of the interaction between the outer peripheral elastic layer and the protruding arm provided by the present invention; Figure 4 This is a schematic diagram of the structure of the upper section and the side abutment joint provided by the present invention; Figure 5 This is an internal schematic diagram of the cooperation between the counterweight plate and the pressure plate provided by the present invention. Detailed Implementation

[0018] 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 embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0019] The implementation of the present invention will be described in detail below with reference to specific embodiments.

[0020] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this invention, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0021] Reference Figure 1-5 The image shows a preferred embodiment of the present invention.

[0022] An automated guided handling device for transporting cylindrical goods by clamping them from above and below includes a movable bottom frame 100, a longitudinally arranged longitudinal frame 300 on the bottom frame 100, and two spaced-apart fork carriages 101 that abut against the cylindrical goods from bottom to top on the bottom frame 100. A longitudinally movable pressure plate 400 is provided on the longitudinal frame 300, and the pressure plate 400 is located above the fork carriages 101. A longitudinal region 104 for accommodating the cylindrical goods is formed between the pressure plate 400 and the fork carriages 101. The fork carriage 101 is provided with multiple bottom rollers. The lower part of the bottom rollers is embedded in the fork carriage 101, and the upper part of the bottom rollers is exposed on the fork carriage 101, forming a bottom exposed section 1011. Along the fork carriage 101 from front to back, the height of the bottom exposed section 1011 gradually decreases. The pressure plate 400 is provided with multiple top rollers. The upper part of the top rollers is embedded in the pressure plate 400, and the lower part of the top rollers is exposed on the pressure plate 400, forming a top exposed section 402. Along the front to back direction of the pressure plate 400, the height of the top exposed section 402 gradually decreases. When the cylindrical cargo is placed in the longitudinal region 104, the bottom of the cylindrical cargo is placed on the fork carriage 101, and the pressure plate 400 presses against the cylindrical cargo from top to bottom. The fork carriage 101 and the pressure plate 400 clamp the cylindrical cargo longitudinally towards each other. Multiple bottom exposed sections 1011 abut against the bottom of the cylindrical cargo from bottom to top, applying a rearward bottom support force to the bottom of the cylindrical cargo; multiple top exposed sections 402 abut against the top of the cylindrical cargo from top to bottom, applying a rearward top resistance force to the top of the cylindrical cargo.

[0023] The above-mentioned automatic guide handling equipment for transporting cylindrical goods by clamping them from top to bottom, when the cylindrical goods are placed in the longitudinal region 104, the pressure plate 400 presses against the cylindrical goods from top to bottom, and the fork carriage 101 supports the cylindrical goods from bottom to top, so as to achieve longitudinal clamping and fixing of the cylindrical goods, so that the cylindrical goods are stably placed in the longitudinal region 104. Secondly, multiple bottom exposed sections 1011 apply a rearward bottom support force to the cylindrical goods, and multiple top exposed sections 402 apply a rearward top resistance force to the cylindrical goods, so that the bottom resistance force is applied backward. During the movement of the automatic guide conveying equipment, the cylindrical goods are prevented from tilting forward, so that the cylindrical goods are stably placed in the longitudinal area 104.

[0024] In this embodiment, the longitudinal frame 300 is formed in the middle of the bottom frame 100, the fork carriage 101 and the pressure plate 400 extend forward, the longitudinal region 104 is formed at the front end of the longitudinal frame 300, and the rear end of the longitudinal frame 300 is provided with a rear end region, and the rear end region is provided with a counterweight structure 500.

[0025] This makes the automated guided transport equipment move more smoothly, and the cylindrical goods and the counterweight structure 500 can achieve front-to-back balance.

[0026] In this embodiment, the lower part of the longitudinal frame 300 is provided with a bottom back plate 301, which is arranged facing the lower part of the longitudinal region 104; the pressure plate 400 is connected to a top back plate 401, which is arranged facing the upper part of the longitudinal region 104; when the cylindrical goods are placed in the longitudinal region 104, the rear end of the cylindrical goods rests against the bottom back plate 301 and the top back plate 401 respectively.

[0027] In this way, the bottom back plate 301 and the top back plate 401 can provide rear-end support for the cylindrical cargo. Combined with the top pressure applied by multiple top exposed sections 402 and the bottom support force applied by multiple bottom exposed sections 1011, the cylindrical cargo can be stably supported against the bottom back plate 301 and the top back plate 401.

[0028] In this embodiment, the bottom frame 100 has side arms 102 on both sides. The side arms 102 extend in the same direction as the fork carriage 101. The two fork carriages 101 are located between the two side arms 102. The height of the side arms 102 is higher than the height of the fork carriage 101.

[0029] The two side arms 102 can limit the width of the cylindrical cargo and can abut against the outside of the cylindrical cargo to provide lateral abutment.

[0030] In this embodiment, the top of the side arm 102 extends upward to form an upper section 103 that is higher than the fork carriage 101. When a cylindrical cargo is placed in the longitudinal region 104, the upper section 103 elastically abuts against the outer periphery of the cylindrical cargo. In this way, the upper section 103 can provide lateral abutment against the cylindrical cargo, further stabilizing the cylindrical cargo in the longitudinal region 104.

[0031] In this embodiment, the upper section 103 is provided with an inclined channel 1031, and the depth of the inclined channel 1031 gradually decreases along the front-to-back direction of the upper section 103; the inclined section is provided with a movable side abutment 1032, the side abutment 1032 has an exposed head extending out of the inclined channel 1031, and the exposed head is provided with an arc-shaped surface 1034; the upper section 103 is provided with a motor, and the motor drives the side abutment 1032 to move in the inclined channel 1031; When the cylindrical cargo is placed in the longitudinal region 104, the motor drives the side abutment 1032 to move from front to back, and the inclined channel 1031 guides the exposed head to extend out of the inclined channel 1031 so that the arc surface 1034 abuts against the front end of the cylindrical cargo, applying a rearward front abutment pressure to the cylindrical cargo.

[0032] When a cylindrical cargo needs to be placed into the longitudinal region 104, the motor drives the side abutment 1032 to move forward, so that the length of the exposed head is reduced, thus avoiding restricting the cylindrical cargo from entering the longitudinal region 104; after the cylindrical cargo is placed in the longitudinal region 104, the motor drives the side abutment 1032 to move backward, increasing the length of the exposed head until the arc surface 1034 abuts against the front end of the cylindrical cargo, applying front end pressure to the cylindrical cargo.

[0033] In this embodiment, the arc-shaped surface 1034 is covered with a pressure-resistant elastic layer 1033 that presses against the front end of the cylindrical cargo. In this way, the side abutment joint 1032 can be elastically abutted against the cylindrical cargo, and the automatic guiding and handling equipment can have the functions of elastic buffering and vibration reduction during movement.

[0034] In this embodiment, the outer periphery of the bottom frame 100 is provided with an outwardly protruding arm 105, which is arranged in an arc shape along the outer periphery of the bottom frame 100; the protruding arm 105 is wrapped with an outer peripheral elastic layer 200 made of elastic material, which covers the outer periphery of the protruding arm 105; the inner end of the outer peripheral elastic layer 200 forms a solid segment 203, which is embedded in the protruding arm 105 and fixedly connected to the protruding arm 105; The outer end of the elastic layer forms a hollow segment 201, which surrounds a hollow cavity 202. The hollow cavity 202 extends along the outer periphery of the protruding arm 105.

[0035] In this way, if the bottom frame 100 encounters an external collision during movement, the outer elastic layer 200 can act as a buffer. During the collision, the hollow section 201 elastically compresses and deforms, buffering most of the impact, and then the impact is transferred to the solid section 203 for support, greatly improving the elastic buffering effect.

[0036] In this embodiment, an elastic sheet is provided in the hollow cavity 202, and a fixed section 206 is formed in the middle of the elastic sheet. The fixed section 206 extends into the solid section 203 and is integrated with the solid section 203. An inclined elastic section 204 is formed on both sides of the elastic sheet. The inner end of the elastic section 204 is connected to the fixed section 206, and the outer end of the elastic section 204 extends outward away from the fixed section 206. Two elastic segments 204 are arranged at an angle away from each other, and the outer ends of the elastic segments 204 move to abut against the inner sidewall of the hollow cavity 202; the two elastic segments 204 surround an elastic space 205 with an outer opening, and the outer opening is arranged away from the protruding arm 105.

[0037] By arranging elastic sheets in the hollow section 201 and utilizing the opposing or separating elastic deformation of the two inclined elastic sections 204, the elastic deformation capacity and elastic buffering capacity of the hollow section 201 are greatly improved. Furthermore, the elastic recovery capacity of the hollow section 201 can be accelerated, and rapid elastic recovery deformation can be achieved simultaneously during the impact buffering process.

[0038] In this embodiment, the middle part of the pressure plate 400 is hollowed out, forming a central hole 604 that runs through it longitudinally; a counterweight plate 600 is provided on the top of the pressure plate 400, and a top elastic layer 603 is connected between the counterweight plate 600 and the pressure plate 400 so that the counterweight plate 600 and the pressure plate 400 are elastically connected. The counterweight plate 600 has a counterweight protrusion 601 extending downward from its bottom. The counterweight protrusion 601 passes through the central hole 604 and is spaced apart from the inner sidewall of the central hole 604. The bottom of the counterweight protrusion 601 is flat, forming a counterweight bottom surface 605. The outer periphery of the counterweight protrusion 601 is arc-shaped. Multiple rolling balls 602 are provided on the counterweight bottom surface 605. The upper part of the balls 602 is movably embedded in the counterweight protrusion 601, and the lower part of the balls 602 protrudes from the counterweight bottom surface 605. When the cylindrical cargo is placed in the longitudinal region 104, the pressure plate 400 abuts against the top of the cylindrical cargo from top to bottom, and multiple balls 602 simultaneously press against the top of the cylindrical cargo from top to bottom, and the top elastic layer 603 is in an elastic compression state.

[0039] Thus, when the cylindrical goods are placed in the longitudinal region 104, the pressure plate 400 presses against the top of the cylindrical goods, and the counterweight protrusion 601 passes through the central hole 604 so that the bottom surface 605 of the counterweight abuts against the top of the cylindrical goods, and multiple ball bearings 602 press against the top of the cylindrical goods. During the movement of the automated guided transport equipment, under the action of the top elastic layer 603, the counterweight plate 600 and the pressure plate 400 are in an elastic fluctuation state, so that the pressure plate 400 can elastically press against the cylindrical goods, and the posture of the cylindrical goods can be corrected at any time during the movement to prevent it from tilting.

[0040] Secondly, the counterweight plate 600 dynamically and elastically fluctuates relative to the pressure plate 400, which can dynamically and elastically counterweight the pressure plate 400 to achieve dynamic tilt correction of cylindrical goods. In addition, with the multiple balls 602 on the bottom surface of the counterweight 605, it can achieve multi-position pressure on the top of the cylindrical goods, thus achieving more efficient dynamic tilt correction.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automated guided transport device for clamping and transporting cylindrical goods from both above and below, characterized in that, The device includes a movable bottom frame, on which a longitudinally arranged longitudinal frame is provided. The bottom frame has two spaced-apart fork carriages that abut against cylindrical goods from bottom to top. A longitudinally movable pressure plate is provided on the longitudinal frame, and the pressure plate is located above the fork carriages. A longitudinal region for accommodating cylindrical goods is formed between the pressure plate and the fork carriages. The fork carriage is provided with multiple bottom rollers. The lower part of the bottom rollers is embedded in the fork carriage, and the upper part of the bottom rollers is exposed on the fork carriage, forming a bottom exposed section. Along the fork carriage from front to back, the height of the bottom exposed section gradually decreases. The pressure plate is provided with multiple top rollers. The upper part of the top rollers is embedded in the pressure plate, and the lower part of the top rollers is exposed on the pressure plate, forming a top exposed section. Along the pressure plate from front to back, the height of the top exposed section gradually decreases. When the cylindrical cargo is placed in the longitudinal region, the bottom of the cylindrical cargo is placed on the fork carriage, and the pressure plate presses against the cylindrical cargo from top to bottom. The fork carriage and the pressure plate clamp the cylindrical cargo longitudinally towards each other. The plurality of bottom exposed sections abut against the bottom of the cylindrical cargo from bottom to top, applying a rearward bottom support force to the bottom of the cylindrical cargo; the plurality of top exposed sections abut against the top of the cylindrical cargo from top to bottom, applying a rearward top pressure force to the top of the cylindrical cargo.

2. The automated guiding and handling equipment for transporting cylindrical goods by clamping them from above and below, as described in claim 1, is characterized in that... The longitudinal frame is formed in the middle of the bottom frame, the fork carriage and the pressure plate extend forward, the longitudinal region is formed at the front end of the longitudinal frame, the rear end of the longitudinal frame is provided with a rear end region, and the rear end region is provided with a counterweight structure.

3. The automated guiding and handling equipment for transporting cylindrical goods by clamping them from above and below, as described in claim 1, is characterized in that... The lower part of the longitudinal frame is provided with a bottom back plate, which is arranged facing the lower part of the longitudinal area; a top back plate is connected to the pressure plate, which is arranged facing the upper part of the longitudinal area; when the cylindrical goods are placed in the longitudinal area, the rear end of the cylindrical goods rests against the bottom back plate and the top back plate respectively.

4. The automated guided transport equipment for transporting cylindrical goods by clamping them from above and below, as described in any one of claims 1 to 3, is characterized in that... The bottom frame has side arms on both sides, which extend in the same direction as the fork carriage. The two fork carriages are located between the two side arms, and the height of the side arms is higher than the height of the fork carriages.

5. The automated guiding and handling equipment for transporting cylindrical goods by clamping them from above and below, as described in claim 4, is characterized in that... The top of the side arm extends upward to form an upper section above the fork carriage. When a cylindrical cargo is placed in the longitudinal region, the upper section elastically abuts against the outer periphery of the cylindrical cargo.

6. The automated guiding and handling equipment for transporting cylindrical goods by clamping them from above and below, as described in claim 5, is characterized in that... The upper section is provided with an inclined channel arranged at an angle, and the depth of the inclined channel gradually decreases along the upper section from front to back; the inclined section is provided with a movable side abutment, the side abutment having an exposed head extending out of the inclined channel, the exposed head having an arc-shaped surface; the upper section is provided with a motor, the motor driving the side abutment to move in the inclined channel. When the cylindrical cargo is placed in the longitudinal region, the motor-driven side abutment moves from front to back, and the inclined guide head extends out of the inclined channel so that the arc-shaped surface abuts against the front end of the cylindrical cargo, applying a rearward front abutment pressure to the cylindrical cargo.

7. The automated guiding and handling equipment for transporting cylindrical goods by clamping them from above and below, as described in claim 6, is characterized in that... The arc-shaped surface is covered with a pressure-resistant elastic layer that presses against the front end of the cylindrical cargo.

8. The automated guided transport equipment for transporting cylindrical goods by clamping them from above and below, as described in any one of claims 1 to 3, is characterized in that... The outer periphery of the bottom frame is provided with an outwardly protruding arm, which is arranged in an arc shape along the outer periphery of the bottom frame; the protruding arm is wrapped with an outer elastic layer made of elastic material, which covers the outer periphery of the protruding arm; the inner end of the outer elastic layer forms a solid segment, which is embedded in the protruding arm and fixedly connected to the protruding arm. The outer end of the elastic layer forms a hollow segment, which surrounds a hollow cavity that extends along the outer periphery of the protruding arm.

9. The automated guiding and handling equipment for transporting cylindrical goods by clamping them from above and below, as described in claim 8, is characterized in that... The hollow cavity is provided with an elastic sheet, and a fixed section is formed in the middle of the elastic sheet. The fixed section extends into the solid section and is integrated with the solid section. An inclined elastic section is formed on both sides of the elastic sheet. The inner end of the elastic section is connected to the fixed section, and the outer end of the elastic section extends outward away from the fixed section. The two elastic segments are arranged at an angle away from each other, and the outer ends of the elastic segments movably abut against the inner wall of the hollow cavity; The two elastic segments surround an elastic space forming an outer end opening, which is arranged away from the protruding arm.

10. The automated guided transport device for transporting cylindrical goods by clamping them from above and below, as described in any one of claims 1 to 3, characterized in that... The middle part of the pressure plate is hollowed out, forming a central hole that runs through it longitudinally; the top of the pressure plate is provided with a counterweight plate, and a top elastic layer is connected between the counterweight plate and the pressure plate to make the counterweight plate and the pressure plate elastically connected. The counterweight plate has a counterweight protrusion extending downwards from its bottom. The counterweight protrusion passes through the central hole and is spaced apart from the inner sidewall of the central hole. The bottom of the counterweight protrusion is flat, forming the bottom surface of the counterweight, and the outer periphery of the counterweight protrusion is arc-shaped. The bottom surface of the counterweight is provided with a plurality of rolling balls, the upper part of which is movably embedded in the counterweight protrusion, and the lower part of which protrudes from the bottom surface of the counterweight. When the cylindrical cargo is placed in the longitudinal region, the pressure plate abuts against the top of the cylindrical cargo from top to bottom, and multiple balls simultaneously press against the top of the cylindrical cargo from top to bottom, and the top elastic layer is in an elastic compression state.

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