An automated guided vehicle for molten metal transfer and method of operation

Abstract

The present application relates to a kind of automatic guided vehicle for molten metal transport and working method, belong to the technical field of automated transport equipment.It includes mobile car body, still include setting on the mobile car body, cover opening and closing device, butt joint bearing part, battery installation assembly, dust removal system, navigation obstacle avoidance system and control system, the cover opening and closing device is used to automatically open or close cover;The butt joint bearing part is used to bear external container;The battery installation assembly is used to release the locking of battery module on the mobile car body;The dust removal system is arranged close to the butt joint bearing part, for collecting the smoke dust generated by molten metal package;The navigation obstacle avoidance system is used for the path navigation and obstacle detection of the automatic guided vehicle;The control system controls the mobile car body to stop when the navigation obstacle avoidance system detects obstacle.The automatic guided vehicle of the present application is flexible, high degree of automation and safe and reliable.

Description

Technical Field

[0001] This invention relates to an automated guided vehicle and its working method for transferring molten metal, belonging to the field of automated transportation equipment technology. Background Technology

[0002] In the casting and metallurgical industries, the safe and timely transfer of molten metals such as hot iron, steel or aluminum after electric furnace melting to the molding and casting station is a key link in continuous production.

[0003] Currently, there are two main methods for transferring molten metal in this stage. One traditional and common method is to use forklifts or overhead cranes to lift and transport containers (such as ladles of molten iron) carrying molten metal. However, because the temperature of molten metal is extremely high, spillage or collisions during operation can easily lead to serious burns, explosions, and fires, posing a very high safety risk.

[0004] To improve the safety and efficiency of transfer operations, automated transfer equipment has become a development trend. However, for automated equipment used for molten metal transfer, simply enabling autonomous vehicle movement is insufficient. To ensure the molten metal is kept warm, prevent splashing, and control the emission of fumes during transfer, a ladle cover is typically added to the ladle (such as a molten iron ladle), and the cover must be able to open and close automatically. There have been related attempts in the prior art; for example, Chinese invention patent CN222403444 U discloses a ladle cover opening and closing structure and a transfer vehicle. Although this solution integrates the ladle cover opening and closing function, it relies on the lifting movement of the transfer vehicle's lifting frame to drive the ladle cover's swing. This means the opening and closing action of the ladle cover depends entirely on a specific lifting or lowering phase, making it impossible to control the ladle cover independently during non-lifting conditions, which limits its application scenarios.

[0005] Secondly, for automated guided transport equipment powered by batteries, achieving rapid and safe replacement of heavy-duty battery modules while ensuring reliable electrical connections is a crucial issue that must be addressed to guarantee the equipment's continuous operation capability. Existing technologies do not adequately address this. For example, Chinese patent application CN 121267159 A discloses an automated molten iron ladle transport robot, which mentions a battery protection box to protect the power supply system, but does not provide a specific battery replacement solution. In scenarios requiring long-term continuous operation, the efficiency and reliability of battery replacement directly impact the overall operating efficiency of the equipment.

[0006] Therefore, existing automated molten metal transfer solutions still need improvement in two key functions: opening and closing the cover and replacing the battery.

[0007] It should be noted that the information disclosed in this background section is only for understanding the background technology of the present invention, and therefore may include information that does not constitute prior art. Summary of the Invention

[0008] The purpose of this invention is to provide a new technical solution to improve or solve the technical problems existing in the prior art as described above.

[0009] The technical solution provided by this invention is as follows: An automated guided vehicle (AGV) for transferring molten metal includes a mobile vehicle body, and further includes a cover opening and closing device, a docking support portion, a battery mounting assembly, a dust removal system, a navigation and obstacle avoidance system, and a control system disposed on the mobile vehicle body. The cover opening and closing device is used to automatically open or close the cover; the docking support portion is used to carry an external container; the battery mounting assembly is used to releasably lock a battery module onto the mobile vehicle body; the dust removal system is arranged near the docking support portion and is used to collect smoke and dust generated by the external container; the navigation and obstacle avoidance system is used for path navigation and obstacle detection of the AAV; and the control system controls the mobile vehicle body to stop when the navigation and obstacle avoidance system detects an obstacle.

[0010] Compared with existing technologies, the technical solution provided by this invention has the following advantages: This invention achieves opening and closing of the cover independently through a cover opening and closing device, allowing for flexible control of the cover's opening and closing according to actual needs, thus expanding the application scenarios of the automated guided vehicle (AGV); the docking and carrying unit, through a combination of roller conveyor and roller rotation drive mechanism, realizes the receiving and transfer of external containers; the battery installation assembly enables convenient and reliable replacement of battery modules; the dust removal system effectively reduces smoke and dust pollution generated during the transfer of external containers; the navigation and obstacle avoidance system improves the driving safety of the AGV in complex environments; and the control system makes the entire transfer process more intelligent and controllable. In summary, the AGV of this invention is flexible in operation, highly automated, and safe and reliable.

[0011] Based on the above technical solution, the present invention can be further improved as follows.

[0012] Furthermore, the cover opening and closing device includes a cover, a drive unit, a transmission mechanism, a counterweight, and a cover cantilever. The cover cantilever is hinged to the moving vehicle body via a first rotation fulcrum, and the cover is connected to the end of the cover cantilever. The drive unit drives the cover cantilever to rotate around the first rotation fulcrum via the transmission mechanism to open or close the cover. The counterweight is mounted on the transmission mechanism to at least partially balance the weight of the cover cantilever and the cover.

[0013] The beneficial effects of adopting the above-mentioned further solution are that, by setting up an independent drive unit and a transmission mechanism connected to it, the cover can be independently opened and closed as needed at any stage of the transfer process. At the same time, by balancing the weight of the cover cantilever and the cover itself with a counterweight, the driving force required by the drive unit is reduced, thereby reducing energy consumption. Furthermore, the opening and closing of the cover is made smoother, reducing swaying or jamming caused by uneven weight distribution and improving the stability of the equipment.

[0014] Furthermore, the cover and the cover cantilever are connected by a floating joint assembly, enabling the cover to float with multiple degrees of freedom relative to the cover cantilever.

[0015] The beneficial effect of adopting the above-mentioned further solution is that, through the connection method of the floating joint assembly, the cover can be adjusted in multiple degrees of freedom, thereby better adapting to the slight displacement or deformation that may occur in the external container during transportation, and ensuring a tight fit between the cover and the external container.

[0016] Furthermore, the transmission mechanism includes a transmission rocker arm and a transmission rod. The transmission rocker arm is connected to the drive unit, and the drive unit can drive the transmission rocker arm to rotate. The upper end of the transmission rod is hinged to the cantilever of the cover, and the lower end of the transmission rod is hinged to the transmission rocker arm. The counterweight is mounted on the transmission rod.

[0017] The beneficial effect of adopting the above-mentioned further solution is that when the drive unit drives the transmission rocker arm to rotate, it can drive the cover cantilever to rotate around the first rotation fulcrum through the transmission rod, thereby realizing the opening or closing action of the cover. At the same time, the counterweight is installed on the transmission rod, which facilitates the balance adjustment of the weight of the cover cantilever and the cover.

[0018] Furthermore, the cover opening and closing device also includes a locking rod that is linked to the transmission rod. The middle part of the locking rod is hinged to the moving vehicle body through a second rotation fulcrum. One end of the locking rod is provided with a locking part for locking the outer container, and the other end of the locking rod is provided with an elongated guide groove. The transmission rod is provided with a bearing or slider that cooperates with the elongated guide groove.

[0019] The beneficial effect of adopting the above-mentioned further solution is that when the lid is closed, the transmission rod drives the bearing or slider to slide in the guide groove, driving the locking rod to rotate around the second rotation fulcrum, so that the locking part locks the outer container; when the lid is opened, the transmission rod drives the bearing or slider to slide in the opposite direction in the guide groove, the locking rod rotates in the opposite direction, so that the locking part is unlocked.

[0020] Through a mechanical linkage function, the opening and closing motion of the bag lid is synchronized with the locking lever. The closing action of the bag lid synchronously drives the locking lever to lock the outer container, preventing safety risks caused by accidental movement or tipping of the container during transportation. Conversely, the opening action of the bag lid synchronously triggers the locking lever to release the outer container. Furthermore, only a single drive unit is needed to simultaneously control the opening and closing of the bag lid and the locking and releasing of the outer container. This eliminates the need for a separate power source and control system for the locking function, simplifying the overall mechanical structure and electrical control logic, and reducing costs and potential points of failure.

[0021] Furthermore, the battery mounting assembly includes a locking actuator and a driving unlocking assembly; the locking actuator includes a guide shaft, a locking latch, a brush mounting bracket, a cam, and an elastic element. The brush mounting bracket is mounted on the mobile vehicle body, the guide shaft is vertically movable and guided onto the brush mounting bracket, the upper end of the guide shaft is connected to the brush mounting bracket via the elastic element, the cam is mounted on the lower end of the guide shaft, and the locking latch is mounted on the guide shaft; the driving unlocking assembly includes a wedge-shaped push plate and a push-pull driving device, the push-pull driving device being able to push the wedge-shaped push plate to reciprocate; the end of the wedge-shaped push plate has a guide slope that cooperates with the cam.

[0022] The beneficial effect of adopting the above-mentioned further solution is that the battery module of the present invention relies on the elastic force of the elastic element to achieve reliable self-locking, avoiding the risk of the battery becoming loose due to vibration during transportation. When unlocking is required, the wedge-shaped push plate is simply pushed horizontally by the push-pull drive device. After the guide slope at the end of the wedge-shaped push plate contacts the cam, the horizontal thrust is converted into a vertical lifting force, forcing the cam to drive the entire guide shaft to move upward against the elastic force of the elastic element, thereby smoothly pulling the locking buckle out of the lock hole of the battery module, thus achieving unlocking. The wedge-shaped push plate continues to move forward, and its front end can directly push the unlocked battery module out of the battery carrier, realizing the continuous automatic completion of the two actions of unlocking and pushing out, which is simple, safe and reliable to operate.

[0023] Furthermore, two sets of locking execution components are symmetrically arranged on both sides of the mobile vehicle body, and the drive unlocking component is arranged between the two sets of locking execution components. The two ends of the wedge-shaped push plate are respectively provided with guide slopes that cooperate with the cams on the corresponding sides; the push-pull drive device can drive the wedge-shaped push plate to move back and forth.

[0024] The beneficial effect of adopting the above-mentioned further solution is that the two sets of locking execution components are symmetrically arranged on both sides of the moving vehicle body, and the locking execution components on both sides are driven as needed through a common drive unlocking component. Battery modules can be installed on both sides, which not only balances the vehicle body, but also allows the battery modules on both sides to be used alternately, preventing the battery module on one side from running out of power and affecting the normal operation of the automated guided vehicle, thus improving the continuous operation capability of the equipment.

[0025] Furthermore, a battery carrier is provided on one side of the locking actuator, the battery carrier including a raceway frame and a plurality of rollers arranged side by side on the raceway frame.

[0026] The beneficial effect of adopting the above-mentioned further solution is that the roller provides a low-friction moving channel for pushing in and pulling out the battery module.

[0027] Furthermore, the docking support includes a roller conveyor line disposed on the moving vehicle body and a roller rotation drive mechanism for driving the rollers on the roller conveyor line to rotate.

[0028] The beneficial effect of adopting the above-mentioned further solution is that by actively driving the rollers on the roller conveyor to rotate forward and backward through the roller rotation drive mechanism, fully loaded external containers can be smoothly connected or empty packages can be sent out, thereby improving the transfer efficiency.

[0029] Furthermore, the obstacle avoidance system includes a lidar located at the front and / or rear of the moving vehicle body and / or a safety contact edge located at the bottom of the vehicle body.

[0030] The beneficial effects of adopting the above-mentioned further solutions are that lidar provides obstacle identification at medium to long range, enabling pre-deceleration or detour; while safety contact edges provide a final physical protection at close range, immediately triggering emergency stops for low-lying or suddenly intruding obstacles. The combination of these two technologies enhances operational safety in complex workshops with mixed pedestrian and vehicle traffic.

[0031] A method for operating an automated guided vehicle (AGV) for molten metal transfer includes:

[0032] At the loading station, the control cover opening and closing device opens the cover, starts the dust removal system, and connects the load-bearing part to receive the external container from the external conveying track;

[0033] Then, the lid opening and closing device is controlled to close the lid, and the locking lever simultaneously locks the outer container;

[0034] The automated guided vehicle (AGV) carrying an external container moves along the travel path to the unloading station. During the journey, the navigation and obstacle avoidance system detects obstacles in real time. When an obstacle is detected, the AGV is stopped by the control system until the obstacle is cleared.

[0035] At the unloading station, the control device for opening and closing the lid opens the lid, and the locking lever simultaneously releases the lock on the external container, allowing the external container to be transferred.

[0036] Then, the cover opening and closing device is controlled to close the cover, and the automated guided vehicle is controlled to return to the loading station.

[0037] Compared with existing technologies, the technical solution provided by this invention has the following advantages: The working method of the automated guided vehicle (AGV) for molten metal transfer of this invention achieves safe and efficient transfer of external containers through the coordinated operation of various components. At the loading station, the cover opening and closing device opens the cover, and the dust removal system starts simultaneously, effectively collecting the smoke and dust generated by the external containers and reducing environmental pollution. The docking and bearing part smoothly receives the external containers from the external conveyor track through the roller conveyor and roller rotation drive mechanism, ensuring the stability of the transfer process. During the journey, the navigation and obstacle avoidance system monitors the surrounding environment in real time, and the combination of lidar and safety contact edge provides dual safety protection, ensuring that the AGV can still drive safely in complex environments. After reaching the unloading station, the cover opening and closing device opens the cover again, and the locking lever releases the external container simultaneously, facilitating subsequent operations. At the same time, the battery installation assembly makes the replacement of battery modules more convenient and improves the continuous operation capability of the equipment. The entire transfer process has a high degree of automation, reducing manual intervention and lowering labor intensity and safety risks.

[0038] Based on the above technical solution, the present invention can be further improved as follows.

[0039] Furthermore, it also includes performing a battery replacement operation, including the following steps:

[0040] Control the push-pull drive device to move the wedge-shaped push plate toward the side of the battery to be replaced;

[0041] During the movement, the guide ramp of the wedge-shaped push plate drives the cam to move the guide shaft upward against the elastic force of the elastic element, thereby raising the locking latch and releasing the currently locked battery module.

[0042] The wedge-shaped pusher continues to move until it pushes the released battery module off the battery carrier.

[0043] The push-pull drive device drives the wedge push plate to move in the opposite direction. When the wedge push plate exits the battery carrier area, it stops. At this time, the locking buckle remains in the raised position, and the new battery module is placed on the battery carrier.

[0044] The push-pull drive device continues to drive the wedge push plate to move. As the wedge push plate continues to retract, the cam disengages from the guide slope. Under the elastic force of the elastic element, the guide shaft drives the locking buckle to fall, so that the locking buckle is inserted into the lock hole of the new battery module and locked.

[0045] The beneficial effect of adopting the above-mentioned further solution is that the present invention can complete the entire set of actions of unlocking, pushing out, resetting, loading and locking the battery module by controlling the movement of the wedge-shaped push plate, with a high degree of automation. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0047] Figure 1 This is a three-dimensional structural schematic diagram of the automated guided vehicle of the present invention;

[0048] Figure 2 This is a three-dimensional structural schematic diagram of the automated guided vehicle of the present invention from another perspective;

[0049] Figure 3 This is a three-dimensional structural diagram of the internal structure of the automated guided vehicle of the present invention;

[0050] Figure 4 This is a three-dimensional structural diagram of the lid opening and closing device of the present invention in the open state.

[0051] Figure 5 This is a side view of the cover opening and closing device of the present invention;

[0052] Figure 6 For the present invention Figure 5 The right view;

[0053] Figure 7 This is a three-dimensional structural diagram of the lid opening and closing device of the present invention in the closed state;

[0054] Figure 8 This is a schematic diagram of the structure connecting the cantilever arm and the cover of the cover opening and closing device of the present invention;

[0055] Figure 9 This is a side view of the lid-closed state of the lid opening and closing device of the present invention;

[0056] Figure 10 This is a three-dimensional structural diagram of the battery mounting assembly of the present invention;

[0057] Figure 11 This is a side view of the battery mounting assembly of the present invention;

[0058] Figure 12 This is a cross-sectional schematic diagram showing the cooperation between the locking actuator, the wedge-shaped push plate, and the battery module of the present invention.

[0059] Figure 13 This is a three-dimensional structural diagram of the drive unlocking component of the present invention;

[0060] Figure 14 This is a schematic diagram of the bottom structure of the drive unlocking component of the present invention.

[0061] In the diagram, 100 is the moving vehicle body; 101 is the vehicle frame; 102 is the steering wheel; 103 is the rear wheel; and 104 is the safety contact edge.

[0062] 200. Cover opening and closing device; 201. Cover; 202. Drive unit; 203. Transmission rocker arm; 204. Transmission rod; 205. Counterweight; 206. Cover cantilever; 207. First rotation fulcrum; 208. H-beam frame; 209. Cover bracket; 210. Rotating shaft; 211. Joint bearing; 212. U-shaped lug; 213. Locking rod; 214. Second rotation fulcrum; 215. Hook; 216. Long strip guide groove; 217. Bearing or slider; 218. Sensor bracket;

[0063] 300. Connecting bearing unit; 301. Roller conveyor;

[0064] 400. Battery mounting assembly; 410. Locking actuator assembly; 411. Guide shaft; 412. Locking latch; 413. Brush mounting bracket; 414. Cam; 415. Elastic element; 420. Drive unlocking assembly; 421. Wedge push plate; 422. Guide ramp; 423. Power source; 424. Synchronous pulley; 425. Synchronous belt; 426. Linear guide rail; 430. Floating brush; 440. Battery carrier; 441. Roller line frame; 442. Roller; 450. Battery module;

[0065] 500. Dust removal system. Detailed Implementation

[0066] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the objects described and do not imply any priority in order or any specific technical meaning. Furthermore, the concepts of "connection" and "linkage" mentioned in this application, unless otherwise specified, are considered to include both direct connection (linkage) and indirect connection (linkage).

[0067] When interpreting the description of this application, it should be clarified that terms such as "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating directions or positional relationships, are based on the perspective and layout shown in the accompanying drawings. They are intended to facilitate explanation and simplify the description process, and are not absolute limitations on the actual location, construction method, or operating mode of the described device or element. Therefore, these terms should not be construed as restrictive interpretations of the content of this application.

[0068] The principles and features of the present invention are described below with reference to examples. The examples are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0069] like Figure 1 - Figure 3 As shown, an automated guided vehicle (AGV) for transferring molten metal includes a mobile vehicle body 100, and further includes a cover opening / closing device 200, a docking support 300, a battery mounting assembly 400, a dust removal system 500, a navigation and obstacle avoidance system, and a control system disposed on the mobile vehicle body 100. The cover opening / closing device 200 is used to automatically open or close the cover 201 of an external container carried on the mobile vehicle body 100; the docking support 300 is used to dock with an external conveying track and carry the external container; the battery mounting assembly 400 is used to releasably lock a battery module 450 onto the mobile vehicle body 100; the dust removal system 500 is arranged near the docking support 300 to collect smoke and dust generated by the external container; the navigation and obstacle avoidance system is used for path navigation and obstacle detection of the AGV; and the control system controls the mobile vehicle body 100 to stop when the navigation and obstacle avoidance system detects an obstacle.

[0070] In this embodiment, the external container is a molten metal ladle, which is used to hold the molten metal such as hot iron, steel, or aluminum after smelting. Of course, the external container can also be other types of containers.

[0071] More specifically, such as Figure 4 - Figure 9As shown, the cover opening and closing device 200 includes a cover 201, a drive unit 202, a transmission mechanism, a counterweight 205, and a cover cantilever 206. The cover cantilever 206 is hinged to the moving vehicle body 100 through a first rotation fulcrum 207, and the cover 201 is connected to the end of the cover cantilever 206. The drive unit 202 drives the cover cantilever 206 to rotate around the first rotation fulcrum 207 through the transmission mechanism to realize the opening or closing of the cover 201. The drive unit 202 can be a power device such as an electric motor, a hydraulic motor, or a rotary cylinder. The counterweight 205 is installed on the transmission mechanism to at least partially balance the weight of the cover cantilever 206 and the cover 201.

[0072] The cover 201 and the cover cantilever 206 are connected by a floating joint assembly, enabling the cover 201 to float with multiple degrees of freedom relative to the cover cantilever 206.

[0073] The transmission mechanism includes a transmission rocker arm 203 and a transmission rod 204. The transmission rocker arm 203 is connected to the drive unit 202, and the drive unit 202 can drive the transmission rocker arm 203 to rotate. The upper end of the transmission rod 204 is hinged to the cover cantilever 206, and the lower end of the transmission rod 204 is hinged to the transmission rocker arm 203. The counterweight 205 is mounted on the transmission rod 204.

[0074] More specifically, the cover opening and closing device 200 includes two cover cantilever arms 206, which are connected together by an H-shaped beam frame 208 to form a cantilever frame, thereby enhancing the overall structural strength of the cover opening and closing device 200. The mobile vehicle body 100 is provided with a cover bracket 209, and both cover cantilever arms 206 are hinged to the cover bracket 209 through their respective first rotation fulcrum 207, thereby providing stable support for the entire cantilever frame and ensuring that it rotates smoothly around the first rotation fulcrum 207.

[0075] The cover 201 is connected to the cantilever frame via a floating joint assembly, which includes a rotating shaft 210 and a spherical bearing 211. The rotating shaft 210 is rotatably mounted on the cantilever frame, and the cover 201 is provided with a U-shaped lug 212. The rotating shaft 210 is pinned to the U-shaped lug 212 via the spherical bearing 211. This structure allows the cover 201 to float with multiple degrees of freedom relative to the cantilever frame, thereby adapting to the position of the opening of the molten metal container during closing to ensure a tight seal.

[0076] The transmission mechanism includes two transmission rocker arms 203 and two transmission rods 204. The upper ends of the two transmission rods 204 are hinged to the cantilever frame, and the lower ends are hinged to one end of the corresponding transmission rocker arm 203. The other ends of the two transmission rocker arms 203 are connected to the output end of the drive unit 202 and are driven by the drive unit 202 to rotate synchronously. The counterweight 205 is installed between the two transmission rods 204 and fixedly connected to them. The symmetrical transmission layout of the double rocker arms and double rods, combined with the centrally located counterweight 205, not only ensures the balance and stability of the driving force transmission, but also balances the weight of the cantilever frame and the cover 201 through the counterweight, reducing the load and energy consumption of the drive unit 202.

[0077] When the cover 201 needs to be opened, the drive unit 202 activates, driving the rocker arm 203 to rotate. This rotation, via the transmission rod 204, pulls the cover cantilever 206 around the first pivot point 207, causing the cover 201 to open. Simultaneously, the counterweight 205 balances the transmission rod 204, reducing the force required by the drive unit 202. When the cover 201 needs to be closed, the drive unit 202 reverses its action, driving the rocker arm 203 to rotate in the opposite direction. This rotation, via the transmission rod 204, pushes the cover cantilever 206 around the first pivot point 207, causing the cover 201 to close. The floating joint assembly between the cover 201 and the cover cantilever 206 allows the cover 201 to float with multiple degrees of freedom relative to the cover cantilever 206, adapting to different shapes and positions of the molten metal ladle. This ensures that the cover 201 fits tightly against the molten metal ladle, minimizing the risk of smoke or molten metal splashing during movement.

[0078] The lid opening and closing device 200 also includes a locking rod 213 linked to the transmission rod 204. The middle part of the locking rod 213 is hinged to the moving vehicle body 100 through a second rotation fulcrum 214. One end of the locking rod 213 is provided with a locking part for locking the outer container, and the other end of the locking rod 213 is provided with an elongated guide groove 216. The transmission rod 204 is provided with a bearing or slider 217 that cooperates with the elongated guide groove 216. In this embodiment, the locking part is a hook 215 for hooking the molten metal ladle.

[0079] When the lid 201 is closed, the transmission rod 204 simultaneously drives the bearing or slider 217 to slide within the elongated guide groove 216, driving the locking rod 213 to rotate around the second rotation fulcrum 214, causing the hook 215 to hook onto the lug of the molten metal ladle; when the lid 201 is opened, the transmission rod 204 simultaneously drives the bearing or slider 217 to rotate in the opposite direction within the elongated guide groove 216, driving the locking rod 213 to rotate in the opposite direction around the second rotation fulcrum 214, causing the hook 215 to disengage from the lug of the molten metal ladle.

[0080] The cover support 209 is also provided with a position detection sensor support 218. The position detection sensor support 218 is provided with an arc-shaped groove, and multiple sensors are installed in the arc-shaped groove. The transmission rocker arm 203 is provided with a rotating arm, which will rotate with the transmission rocker arm 203. The sensor can determine the opening and closing state of the cover 201 by detecting the position of the rotating arm.

[0081] like Figure 10 - Figure 14 As shown, the battery mounting assembly 400 includes a locking actuator 410 and a drive unlocking assembly 420. The locking actuator 410 includes a guide shaft 411, a locking latch 412, a brush mounting bracket 413, a cam 414, and an elastic element 415. A floating brush 430 is mounted on the brush mounting bracket 413, which is mounted on the mobile vehicle body 100. The guide shaft 411 is vertically movable and guided onto the brush mounting bracket 413. The upper end of the guide shaft 411 is connected to the brush mounting bracket 413 via the elastic element 415. The connection is as follows: the cam 414 is mounted on the lower end of the guide shaft 411, and the locking buckle 412 is mounted on the guide shaft 411. The locking buckle 412 is used to engage with the lock hole of the battery module 450 in the descending position to lock the battery module 450, and to disengage from the lock hole in the ascending position to release the battery module 450. The drive unlocking assembly 420 includes a wedge-shaped push plate 421 and a push-pull drive device. The push-pull drive device can push the wedge-shaped push plate 421 to reciprocate. The end of the wedge-shaped push plate 421 has a guide slope 422 that cooperates with the cam 414.

[0082] The embodiments of the present invention do not limit the type of the elastic element 415. The elastic element 415 can be a spring or a rubber elastomer or other elastic element, as long as it can realize the function of the guide shaft 411 moving up and down when the force changes and driving the locking buckle 412 to rise and fall.

[0083] The push-pull drive device includes a power source 423, multiple synchronous pulleys 424, a synchronous belt 425, and a linear guide rail 426. The power source 423 is fixedly installed on the mobile vehicle body 100. The synchronous belt 425 is tensioned between the multiple synchronous pulleys 424. The wedge-shaped push plate 421 is slidably installed on the linear guide rail 426 via a slider, and the slider is fixedly connected to the synchronous belt 425. The power source 423 drives the synchronous pulleys 424 to rotate, thereby driving the wedge-shaped push plate 421 to reciprocate linearly along the linear guide rail 426.

[0084] In this embodiment, two sets of locking execution components 410 are symmetrically arranged on both sides of the mobile vehicle body 100, and the drive unlocking component 420 is arranged between the two sets of locking execution components 410. The two ends of the wedge-shaped push plate 421 are respectively provided with guide inclined surfaces 422 that cooperate with the cam 414 on the corresponding side. The cross-section of the wedge-shaped push plate 421 is trapezoidal. The push-pull drive device can push the wedge-shaped push plate 421 to reciprocate and drive the locking execution components 410 on both sides to perform a release action.

[0085] One side of the locking actuator 410 is also provided with a battery carrier 440, which includes a raceway frame 441 and a plurality of rollers 442 arranged side by side on the raceway frame 441. The linear guide rail 426 extends to the area of ​​the battery carrier 440, and when the wedge-shaped push plate 421 moves along the linear guide rail 426 to the area of ​​the battery carrier 440, it can push the unlocked battery module 450 out of the battery carrier 440.

[0086] The docking and carrying unit 300 includes a roller conveyor 301 mounted on the moving vehicle body 100 and a roller rotation drive mechanism for driving the rollers 442 on the roller conveyor 301 to rotate. The roller rotation drive mechanism includes a motor, a chain, and a sprocket. The motor drives the rollers 442 on the roller conveyor 301 to rotate through the transmission of the chain and sprocket. When the automated guided vehicle docks with an external conveyor track, the molten metal ladle can be smoothly placed on the roller conveyor 301. The rotation of the rollers 442 helps the molten metal ladle move smoothly on the roller conveyor 301 to the designated position for carrying, making the loading and unloading of the molten metal ladle less labor-intensive and improving loading and unloading efficiency.

[0087] The obstacle avoidance system includes a lidar sensor located at the front and / or rear of the mobile vehicle body 100 and / or a safety contact edge 104 located at the bottom of the vehicle body. The lidar sensor emits a laser beam in real time and receives the reflected signal. By measuring the round-trip time of the signal, it calculates the distance to the obstacle, thereby accurately detecting the position and distance information of obstacles around the automated guided vehicle (AGV). When the AGV collides with an obstacle during operation, the safety contact edge 104 quickly detects the collision signal and transmits it to the control system. The control system immediately stops the AGV to prevent further collisions and damage, ensuring the safety of equipment and personnel. Once the obstacle is removed, the vehicle automatically resumes operation without manual intervention.

[0088] The dust removal system 500 includes dust collection hoods, which are arranged on both sides of the docking support portion 300 to collect the fumes generated by the molten metal ladle to the greatest extent.

[0089] Furthermore, the mobile vehicle body 100 includes a frame 101, a steering wheel 102, and two rear wheels 103. The steering wheel 102 is located at the front end of the frame 101, allowing for flexible steering in all directions. The two rear wheels 103 are located on both sides of the rear end of the frame 101, providing stable support for the movement of the automated guided vehicle. The frame 101 has sufficient load-bearing capacity to withstand the weight of components such as the molten metal liner and the battery module 450, while ensuring that it is not easily deformed or damaged under complex working conditions. The steering wheel 102 is connected to the control system via a steering mechanism. The control system can control the steering angle and direction of the steering wheel 102 based on information from the navigation and obstacle avoidance system, enabling the automated guided vehicle to move flexibly within the workshop.

[0090] The mobile vehicle 100 can also be equipped with an audible and visual alarm and reminder device, which will provide high-decibel voice prompts and light reminders during operation. For example, different voice prompts will be given when the vehicle turns, is obstructed, moves forward, or reverses, in order to prevent collisions with pedestrians.

[0091] A method for operating an automated guided vehicle for molten metal transfer, comprising:

[0092] At the loading station, the control cover opening and closing device 200 opens the cover 201, the dust removal system 500 is started, and the docking bearing part 300 receives the molten metal bag from the external conveying track.

[0093] Then, the control device 200 closes the lid 201, and the locking lever 213 simultaneously locks the molten metal ladle.

[0094] The automated guided vehicle (AGV) carrying molten metal ladles moves along the travel path to the unloading station. During the journey, obstacles are detected in real time by the navigation and obstacle avoidance system. When an obstacle is detected, the AGV is stopped by the control system until the obstacle is cleared.

[0095] At the unloading station, the control cover opening and closing device 200 opens the cover 201, and the locking rod 213 simultaneously releases the lock on the molten metal ladle, transferring the molten metal ladle;

[0096] Then, the cover opening and closing device 200 is controlled to close the cover 201, and the automatic guided vehicle is controlled to return to the loading station.

[0097] The operating method of the automated guided vehicle for molten metal transfer further includes performing a battery replacement operation, which includes:

[0098] When the battery module 450 needs to be replaced, the push-pull drive device is controlled to move the wedge-shaped push plate 421 toward the side of the battery to be replaced.

[0099] During the movement, the guide slope 422 of the wedge-shaped push plate 421 drives the cam 414 to drive the guide shaft 411 to move upward against the elastic force of the elastic element 415, thereby causing the locking buckle 412 to rise and release the currently locked battery module 450.

[0100] The wedge-shaped pusher 421 continues to move until the released battery module 450 is pushed out of the battery carrier 440;

[0101] The push-pull drive device drives the wedge push plate 421 to move in the opposite direction. When the wedge push plate 421 exits the area of ​​the battery carrier 440, it stops. At this time, the locking buckle 412 remains in the raised position, and the new battery module 450 is placed on the battery carrier 440.

[0102] The push-pull drive device continues to drive the wedge push plate 421 to move. As the wedge push plate 421 continues to retract, the cam 414 disengages from the guide slope 422. Under the elastic force of the elastic element 415, the guide shaft 411 drives the locking buckle 412 to fall, so that the locking buckle 412 is inserted into the lock hole of the new battery module 450 and locked.

[0103] 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, improvements, etc., 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 vehicle for transferring molten metal, comprising a moving vehicle body (100), characterized in that, It also includes a cover opening and closing device (200), a docking support (300), a battery mounting assembly (400), a dust removal system (500), a navigation and obstacle avoidance system, and a control system disposed on the mobile vehicle body (100). The cover opening and closing device (200) is used to automatically open or close the cover (201); the docking support (300) is used to carry the external container; the battery mounting assembly (400) is used to releasably lock the battery module (450) onto the mobile vehicle body (100); the dust removal system (500) is arranged close to the docking support (300) and is used to collect the smoke and dust generated by the external container; the navigation and obstacle avoidance system is used for path navigation and obstacle detection of the automated guided vehicle; the control system controls the mobile vehicle body (100) to stop when the navigation and obstacle avoidance system detects an obstacle. The cover opening and closing device (200) includes a cover (201), a drive unit (202), a transmission mechanism, a counterweight (205), and a cover cantilever (206). The cover cantilever (206) is hinged to the moving vehicle body (100) through a first rotation fulcrum (207), and the cover (201) is connected to the end of the cover cantilever (206). The drive unit (202) drives the cover cantilever (206) to rotate around the first rotation fulcrum (207) through the transmission mechanism. The transmission mechanism includes a transmission rocker arm (203) and a transmission rod (204). The transmission rocker arm (203) is connected to the drive unit (202). The drive unit (202) can drive the transmission rocker arm (203) to rotate. The upper end of the transmission rod (204) is hinged to the cover cantilever (206), and the lower end of the transmission rod (204) is hinged to the transmission rocker arm (203). The counterweight (205) is mounted on the transmission rod (204). The cover opening and closing device (200) also includes a locking rod (213) linked to the transmission mechanism. The middle part of the locking rod (213) is hinged to the moving vehicle body (100) through a second rotation fulcrum (214). One end of the locking rod (213) is provided with a locking part for locking the outer container, and the other end of the locking rod (213) is provided with a long strip guide groove (216). The transmission rod (204) is provided with a bearing or slider (217) that cooperates with the long strip guide groove (216).

2. The automated guided vehicle for molten metal transfer according to claim 1, characterized in that, The cover (201) and the cover cantilever (206) are connected by a floating joint assembly, so that the cover (201) can float with multiple degrees of freedom relative to the cover cantilever (206).

3. The automated guided vehicle for molten metal transfer according to claim 1, characterized in that, The battery mounting assembly (400) includes a locking actuator (410) and a drive unlocking actuator (420). The locking actuator (410) includes a guide shaft (411), a locking buckle (412), a brush mounting bracket (413), a cam (414), and an elastic element (415). The brush mounting bracket (413) is mounted on the mobile vehicle body (100). The guide shaft (411) is vertically movable and guided on the brush mounting bracket (413). The upper end of the guide shaft (411) is connected to the brush mounting bracket (413) through the elastic element (415). The cam (414) is mounted on the lower end of the guide shaft (411). The locking buckle (412) is mounted on the guide shaft (411). The drive unlocking assembly (420) includes a wedge-shaped push plate (421) and a push-pull drive device, which can push the wedge-shaped push plate (421) to move back and forth; the end of the wedge-shaped push plate (421) has a guide slope (422) that cooperates with the cam (414).

4. The automated guided vehicle for molten metal transfer according to claim 3, characterized in that, Two sets of locking execution components (410) are symmetrically arranged on both sides of the mobile vehicle body (100). The drive unlocking component (420) is arranged between the two sets of locking execution components (410). The two ends of the wedge-shaped push plate (421) are respectively provided with guide slopes (422) that cooperate with the cam (414) on the corresponding side. The push-pull drive device can push the wedge-shaped push plate (421) to move back and forth.

5. The automated guided vehicle for molten metal transfer according to claim 3, characterized in that, The locking actuator (410) is also provided with a battery carrier (440) on one side, the battery carrier (440) including a raceway frame (441) and a plurality of rollers (442) arranged side by side on the raceway frame (441).

6. The automated guided vehicle for molten metal transfer according to claim 1, characterized in that, The docking support unit (300) includes a roller conveyor (301) disposed on the moving vehicle body (100) and a roller rotation drive mechanism for driving the rollers (442) on the roller conveyor (301) to rotate.

7. The automated guided vehicle for molten metal transfer according to claim 1, characterized in that, The navigation and obstacle avoidance system includes a laser radar located at the front and / or rear of the moving vehicle body (100) and / or a safety contact edge (104) located at the bottom of the vehicle body.

8. A method for operating an automated guided vehicle for molten metal transfer as described in any one of claims 1-7, characterized in that, include: At the loading station, the control cover opening and closing device (200) opens the cover (201), starts the dust removal system (500), and the docking bearing part (300) receives the external container from the external conveying track; Then the control lid opening and closing device (200) closes the lid (201), and the locking lever (213) locks the outer container simultaneously; The automated guided vehicle (AGV) carrying an external container moves along the travel path to the unloading station. During the journey, the navigation and obstacle avoidance system detects obstacles in real time. When an obstacle is detected, the AGV is stopped by the control system until the obstacle is cleared. At the unloading station, the control cover opening and closing device (200) opens the cover (201), and the locking rod (213) releases the lock on the external container simultaneously, transferring the external container; Then, the cover opening and closing device (200) is controlled to close the cover (201), and the automatic guided vehicle is controlled to return to the loading station.

9. The operating method of the automated guided vehicle for molten metal transfer according to claim 8, characterized in that, It also includes performing a battery replacement operation, which includes the following steps: Control the push-pull drive device to move the wedge-shaped push plate (421) toward the side of the battery to be replaced; During the movement, the guide ramp (422) of the wedge push plate (421) drives the cam (414) to drive the guide shaft (411) to move upward against the elastic force of the elastic element (415), thereby raising the locking latch (412) and releasing the currently locked battery module (450). The wedge-shaped pusher (421) continues to move until the released battery module (450) is pushed off the battery carrier (440); The push-pull drive device drives the wedge push plate (421) to move in the opposite direction. When the wedge push plate (421) exits the area of ​​the battery carrier (440), it stops. At this time, the locking buckle (412) remains in the raised position, and the new battery module (450) is placed on the battery carrier (440). The control push-pull drive device continues to drive the wedge push plate (421) to move. As the wedge push plate (421) continues to retract, the cam (414) disengages from the guide slope (422), and the guide shaft (411) drives the locking buckle (412) to fall under the elastic force of the elastic element (415), so that the locking buckle (412) is inserted into the lock hole of the new battery module (450) and locked.

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