An agv dough automated conveying apparatus

Abstract

This application discloses an AGV (Automated Guided Vehicle) dough conveying equipment, belonging to the technical field of automated transfer equipment for food production. It includes an AGV body assembly, a lifting frame assembly, at least one set of detachable belt conveyor mechanisms, and an electrical control assembly. The lifting frame assembly can adapt to multiple workstation heights and synchronously transfer multiple layers of dough. The detachable belt conveyor mechanism is quickly assembled and disassembled from the lifting frame assembly via a first quick-release locking component, eliminating cleaning dead corners and meeting the high-frequency cleaning and disinfection requirements of food production. This application features a high degree of modularity, strong food safety, and significant transfer efficiency and compatibility, making it suitable for automated dough transfer throughout the entire process of noodle product production.

Description

Technical Field

[0001] This application relates to the field of automated transfer equipment technology in food production, and in particular to an AGV dough automated transfer device suitable for the production of flour products. Background Technology

[0002] In the industrial production of flour products, dough needs to be transferred between multiple processes such as kneading, turning, dividing, and rolling. Traditional manual transfer methods are inefficient, labor-intensive, and prone to contaminating the dough, failing to meet food safety production standards. While AGVs (Automated Guided Vehicles) are increasingly being used for dough transfer, existing AGVs for dough transfer suffer from the following core technological shortcomings: 1. Belt conveyor mechanisms are mostly integrated structures fixed to the AGV body, which cannot be quickly disassembled. However, food production workshops require high-frequency cleaning and disinfection of the conveyor contact surfaces. Fixed structures have many cleaning dead spots, which are prone to bacterial growth and cannot meet the hygiene requirements of food production. 2. Existing AGVs with lifting functions are mostly single-stage lifting structures with limited lifting stroke. They cannot be compatible with workstations of different heights, such as turning machines, slitting machines, and conveyor belts. They also lack multi-layer transfer and bearing structures, and can only transfer one group of dough at a time, resulting in low transfer efficiency and failing to meet the cycle time requirements of large-scale production lines. 3. Dough itself has high viscosity. Existing AGVs lack targeted integrated anti-sticking structures. The external powdering equipment has poor coordination with the AGV, which easily leads to uneven powdering and missed powdering, causing the dough to stick to the belt. 4. The electrical control and mechanical structure integration of existing equipment is low. There is insufficient redundancy in safety protection for the food production environment. The linkage between emergency stop, limit switch, and weighing feedback is poor, resulting in insufficient equipment operation stability.

[0003] To address the aforementioned shortcomings, existing patents include CN111547161A, which discloses an AGV trolley with a lifting and unloading mechanism. This trolley only possesses basic lifting and unloading functions and lacks a detachable belt conveyor structure, failing to meet food hygiene requirements. CN115783087A discloses a transfer AGV, but it lacks anti-sticking and limiting structures for dough transport and cannot achieve multi-layer conveyor belt turnover, resulting in poor adaptability. CN222433321U discloses an AGV trolley designed for easy handling, but it lacks a dedicated structural design for food production scenarios and cannot adapt to the process requirements of dough transfer. Therefore, there is an urgent need to develop an automated AGV dough transport device specifically designed for noodle product production scenarios, featuring detachable cleaning, multi-station adaptability, anti-sticking and anti-deviation capabilities, and multi-layer transfer capabilities to solve the pain points of existing technologies. Summary of the Invention

[0004] To overcome the above-mentioned shortcomings, this application provides an AGV dough automated conveying equipment, including an AGV vehicle body assembly, a lifting frame assembly, at least one set of detachable belt conveyor mechanisms, and an electrical control assembly; The lifting frame assembly is located above the AGV body assembly, and the lifting frame assembly and the AGV body assembly are detachably connected. The lifting frame assembly includes a lower fixed frame, an upper movable frame, a lifting drive assembly, an electrical cabinet compartment, and multiple first limit brackets; the lifting drive assembly is disposed between the lower fixed frame and the upper movable frame, and is used to drive the upper movable frame to move up and down in the vertical direction; the electrical cabinet compartment is disposed inside the lower fixed frame, and an electrical control assembly is disposed inside the electrical cabinet compartment; the first limit brackets are fixedly connected to the upper movable frame, and each of the first limit brackets is provided with a quick-lock position that matches the detachable belt conveyor mechanism; The detachable belt conveyor mechanism includes a first conveying frame, a driving roller and a driven roller rotatably connected to both ends of the first conveying frame, a conveying belt sleeved between the driving roller and the driven roller, a conveying drive assembly fixed to the side of the first conveying frame, and a first quick-release locking assembly symmetrically arranged on both sides of the first conveying frame; the first quick-release locking assembly matches a quick-insertion locking position, and the detachable belt conveyor mechanism is detachably connected to the lifting frame assembly through the quick-insertion locking position, thereby realizing the quick locking and disassembly of the first conveying frame and the lifting frame assembly; The electrical control assembly is electrically and signal-connected to the lifting drive assembly and the conveying drive assembly, respectively, and is used to control the operation of the equipment.

[0005] Furthermore, the first conveying frame of the detachable belt conveyor mechanism is fixedly connected with a plurality of second limiting brackets, each of which is provided with a quick-release locking position that matches the second quick-release locking assembly of the second conveying frame, and the second quick-release locking assemblies are symmetrically arranged on both sides of the second conveying frame.

[0006] Furthermore, the second conveying frame of the detachable belt conveyor mechanism is fixedly connected with multiple third limiting brackets. Each third limiting bracket is provided with a quick-release locking position that matches the third quick-release locking assembly of the third conveying frame. The third quick-release locking assemblies are symmetrically arranged on both sides of the third conveying frame.

[0007] Furthermore, the first quick-release locking assembly includes at least four positioning posts symmetrically fixed on both sides of the first conveying frame and at least four sets of first quick-release pins symmetrically arranged on both sides of the first conveying frame; the quick-release locking position includes a positioning hole provided on the first limiting bracket plate and a locking insertion hole communicating with the positioning hole; the positioning post and the positioning hole are clearance-fitted, and the first quick-release pin can be inserted into the locking insertion hole to lock the positioning post in the positioning hole, thereby realizing the locking of the first conveying frame and the lifting frame assembly.

[0008] Furthermore, the lifting drive assembly includes a lifting stepper motor with a brake, a ball screw, a screw nut seat, and multiple sliding shafts; the lifting stepper motor is fixed in the middle of the lower fixed frame, and the output end of the lifting stepper motor is coaxially and fixedly connected to the ball screw; the screw nut seat is sleeved on the ball screw; the lifting stepper motor drives the ball screw to rotate, causing the screw nut seat to move along the screw axis, thereby driving the multiple sliding shafts to move vertically, realizing the vertical lifting of the upper movable frame.

[0009] Furthermore, the AGV dough automated conveying equipment also includes a baffle, which is detachably connected to a first conveying frame, a second conveying frame, or a third conveying frame.

[0010] Furthermore, the top of the first, second, and third conveying frames is provided with multiple vertically upward limiting protrusions, and the sides of the limiting protrusions are provided with through holes; the baffle is provided with limiting blocks corresponding to the limiting protrusions, the limiting blocks are located on the outside of the baffle, the bottom of the limiting blocks is provided with limiting insertion holes in the vertical direction corresponding to the limiting protrusions, and the sides of the limiting blocks are also provided with limiting holes communicating with the limiting insertion holes. The second quick-release pin is inserted into the limiting hole and passes through the through hole to lock the limiting protrusions in the limiting insertion holes, thereby achieving the locking of the baffle and the first, second, or third conveying frames.

[0011] Furthermore, the conveying drive assembly includes a conveying stepper motor and a synchronous pulley set; the conveying stepper motor is fixed to the side of the first conveying frame, and the output end of the conveying stepper motor is connected to the drive roller through the synchronous pulley set.

[0012] Furthermore, the AGV vehicle assembly includes an AGV body and a support chassis fixed to the top of the AGV body, wherein the lower fixed frame is detachably connected to the support chassis.

[0013] Furthermore, an infrared sensor and a height-measuring rod are installed inside the lower fixed frame. The lifting drive assembly drives the height-measuring rod to move vertically up and down. The infrared sensor is used to measure the height of the height-measuring rod. The infrared sensor and the electrical control assembly are electrically connected.

[0014] This application has the following beneficial effects: 1. This application utilizes a detachable belt conveyor mechanism as its core design, employing quick-release pins and positioning structures to enable tool-free, rapid assembly and disassembly of the conveyor mechanism and the lifting frame. Simultaneously, the nylon baffles, rollers, and belts of the conveyor mechanism can all be quickly disassembled, eliminating cleaning dead corners and fully meeting the high-frequency cleaning and disinfection requirements of food production workshops. This solves the core pain points of existing fixed conveyor mechanisms, such as inconvenient cleaning and easy bacterial growth, demonstrating outstanding practicality.

[0015] 2. The lifting frame assembly of this application adopts a stepper motor with a brake and a ball screw drive, which has high lifting accuracy, strong load capacity, and reliable locking safety. The lifting stroke can cover the height requirements of multiple workstations and is perfectly compatible with workstations of different heights such as cylinder tilting machines, block dividing machines, and conveyor belt lines. At the same time, it is equipped with multi-layer limit brackets, which can simultaneously support multiple sets of detachable belt conveyor mechanisms to realize the synchronous transfer of multi-layer dough, greatly improve the transfer efficiency, match the cycle requirements of large-scale production lines, and is different from the existing single transfer position AGV structure, which has significant innovation.

[0016] 3. This application integrates a food-grade anti-deviation limiting component and an integrated powder-spreading and anti-sticking mechanism. It uses a food-grade nylon baffle to protect the dough from deviation during conveying, and uses a photoelectric triggered powder-spreading mechanism to automatically and accurately spread powder when the dough is fed, effectively preventing the dough from sticking to the conveyor belt. It is fully adapted to the process requirements of dough product production and solves the problems of dough sticking and deviation in existing equipment.

[0017] 4. The electrical control assembly of this application is highly integrated with the mechanical structure, using Mitsubishi FX3U series PLC as the control core, and is equipped with Leadshine stepper drive system. It also features multiple limit switches, emergency stops, and weighing feedback linkage protection, ensuring high safety redundancy and stable operation. Furthermore, it adopts a fusion positioning system of QR code and inertial navigation, achieving AGV docking accuracy of ±10mm, ensuring precise docking with equipment at each workstation and meeting the collaborative needs of automated production lines.

[0018] 5. This application uses 304 food-grade stainless steel and food-grade contact materials throughout, which meets national food safety production standards. At the same time, the fully modular design allows for quick replacement and maintenance of each component, greatly reducing the operation and maintenance costs of the equipment. It is suitable for the use environment of food production workshops and has strong promotion and application value. Attached Figure Description

[0019] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the AGV dough automated conveying equipment described in Embodiment 1 of this application; Figure 2 This is a schematic diagram of the detachable belt conveyor mechanism described in this application; Figure 3 This is a schematic diagram of the internal structure of the lifting frame assembly described in this application; Figure 4 This is a schematic diagram of the structure of the AGV dough automated conveying equipment described in Embodiment 2 of this application; Figure 5 This is a schematic diagram of the disassembled structure of the AGV dough automated conveying equipment described in Embodiment 1 of this application; Figure 6 This is a schematic diagram of the structure of the AGV dough automated conveying equipment described in Embodiment 3 of this application.

[0020] Reference numerals: 1. AGV body; 2. Lifting frame assembly; 3. Detachable belt conveyor mechanism; 5. Electrical control assembly; 13. Electrical cabinet compartment; 21. Lower fixed frame; 22. Upper movable frame; 24. Lifting drive assembly; 25. First limit bracket; 26. Quick-release locking position; 31. First conveying frame; 32. Driving roller; 33. Driven roller; 34. Conveyor belt; 35. Conveyor drive assembly; 36. First quick-release locking assembly; 70. Baffle; 71. Limiting protrusion; 72. Perforation; 80. Limiting block; 81. Limiting... 82. Second quick-release pin; 83. Second rotating handle; 84. Limiting hole; 91. Weighing rod; 92. Infrared sensor; 241. Lifting stepper motor; 242. Ball screw; 243. Screw nut seat; 244. Sliding shaft; 251. Bracket plate; 351. Conveying stepper motor; 352. Synchronous pulley set; 361. First quick-release pin; 362. Positioning post; 363. First rotating handle; 400. Powder receiving box; 401. Telescopic cover; 520. Limiting slot; 521. Rotating plate; 522. Limiting post. Detailed Implementation

[0021] The specific embodiments of this application are described below with reference to the accompanying drawings and examples. Through the content described in this specification, those skilled in the art can clearly and completely understand the technical solution, the technical problem solved, and the resulting technical effects of this application. It is understood that the specific embodiments described herein are only for explaining this application and not for limiting it. Furthermore, for ease of description, only the parts related to this application are shown in the accompanying drawings.

[0022] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings are only for the purpose of assisting those skilled in the art in understanding and reading the contents described in the specification, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size should fall within the scope of the technical content disclosed in this application, provided that they do not affect the effects and purposes that this application can produce.

[0023] The use of terms such as "first," "second," and "the" does not imply quantity limitation and may indicate singular or plural. The terms "comprising," "including," "having," and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, processes, methods, systems that include a series of steps or modules. The product or equipment is not limited to the listed steps or units, but may also include steps or units not listed, or other steps or units inherent to these processes, methods, products, or equipment. Terms such as “connection,” “linking,” and “coupled” used in this application are not limited to physical or mechanical connections, but may also include direct or indirect electrical connections.

[0024] It should also be noted that the longitudinal section corresponding to the embodiment of this application can be the section corresponding to the front view direction, the transverse section can be the section corresponding to the right view direction, and the horizontal section can be the section corresponding to the top view direction.

[0025] Furthermore, where there is no conflict, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] Example 1 like Figure 1 , Figure 2 , Figure 3 , Figure 5 As shown in the figure, the AGV dough automated conveying equipment described in this embodiment includes an AGV vehicle body assembly, a lifting frame assembly 2, a detachable belt conveyor mechanism 3, an integrated powder spreading and anti-sticking mechanism, and an electrical control assembly 5.

[0027] The AGV vehicle assembly includes the AGV body 1 and a support chassis fixed on top of the AGV body 1. The AGV body 1 adopts the MR-Q3B-600C type submersible differential drive AGV with dimensions of 940mmX650mmX300mm. It has a built-in 48V / 44Ah lithium battery pack with a continuous working time of 8 hours. It is equipped with an MR-RA-CH-48 / 30B-A2(N) type charging pile, which can be fully charged in 1.5 hours. The bottom of the AGV body 1 is equipped with a positioning component that integrates QR code navigation and inertial navigation, with a positioning accuracy of ±10mm. It can achieve precise positioning and docking at workstations such as cylinder tilting machines, block dividing machines, and conveyor belts through ground QR codes.

[0028] The lifting frame assembly 2 is located above the AGV body assembly 1, and the electrical cabinet 13 is located inside the lifting frame assembly 2 and fixed to the top of the support chassis. The electrical control assembly 5 is installed inside the electrical cabinet 13, and an operation panel is installed on the outside of the electrical cabinet 13. The operation panel integrates a manual / automatic switch, an origin return switch, an automatic start switch, an abnormality release switch, a power indicator light, and an operating status indicator light. Contact-type anti-collision strips are installed at the four corners of the support chassis. Emergency stop buttons are installed at the front and rear ends of the AGV body 1 and on the operation panel. It is also equipped with an audible and visual alarm to achieve multiple safety protections.

[0029] like Figure 2As shown, the lifting frame assembly 2 is fixed to the top of the supporting chassis and includes a lower fixed frame 21, an upper movable frame 22, a lifting drive assembly 24, an electrical cabinet compartment 13, and four first limit brackets 25. The lower fixed frame 21 is a cuboid and is fixedly connected to the supporting chassis by high-strength bolts. The lifting drive assembly 24 is located between the lower fixed frame 21 and the upper movable frame 22 and is used to drive the upper movable frame 22 to rise and fall vertically. A telescopic cover 401 is provided on the outside of the lifting drive assembly 24. The upper movable frame 22 is flat and a powder receiving box 400 is located on the upper movable frame 22. The powder receiving box 400 can be detachably pulled out from the movable frame 22.

[0030] The lifting drive assembly 24 includes an 86CM45-BZ type lifting stepper motor 241 with a brake, a ball screw 242, a screw nut seat 243, and four sliding shafts 244 located at the four corners of the lower fixed frame 21. The lifting stepper motor 241 is fixed in the middle of the lower fixed frame 21. The output end of the lifting stepper motor 241 is coaxially fixedly connected to the ball screw 242 through a coupling. The screw nut seat 243 is sleeved on the ball screw 242. The lifting stepper motor 241 drives the ball screw 242 to rotate, which drives the screw nut seat 243 to move along the screw axis, thereby driving the multiple sliding shafts 244 to move vertically, realizing the vertical lifting of the upper movable frame 22. In this embodiment, the lifting stroke of the lifting frame assembly 2 is 200mm, the lifting speed is 20mm / s, the maximum load is 80kg, and the height of the lower side of the belt from the ground can be adjusted between 780mm and 970mm to adapt to the docking height of different workstations. An infrared sensor 92 and a height-measuring rod 91 are installed inside the lower fixed frame 21. The lifting drive assembly 24 drives the height-measuring rod 91 to move vertically up and down. The infrared sensor 92 is used to measure the height of the height-measuring rod 91. The infrared sensor 92 is electrically connected to the electrical control assembly 5.

[0031] In another embodiment, the lifting drive assembly 24 achieves the vertical lifting of the upper movable frame 22 by driving the double scissor link assembly. The double scissor link assembly includes two sets of symmetrically arranged scissor arm units. Each set of scissor arm units includes an inner scissor bar and an outer scissor bar. The middle parts of the inner and outer scissor bars are hinged to each other through a hinge shaft. The lower end of the inner scissor bar is hinged to the front end of the lower fixed frame 21, and the upper end of the inner scissor bar is slidably hinged to the rear end of the upper movable frame 22 through a slider. The lower end of the outer scissor bar is slidably hinged to the rear end of the lower fixed frame 21 through a slider, and the upper end of the outer scissor bar is hinged to the front end of the upper movable frame 22. The two sides of the lead screw nut seat 243 are fixedly connected to the hinge shafts of the two sets of scissor arm units respectively through the sliding shaft 244; the lifting stepper motor 241 drives the ball screw 242 to rotate, which drives the lead screw nut seat 243 to move along the lead screw axis, and then drives the double scissor linkage group to unfold or retract through the sliding shaft 244, so as to realize the vertical lifting of the upper movable frame 22.

[0032] The first limiting bracket 25 is fixed to the upper movable frame 22. The bracket plate 251 of the first limiting bracket 25 is provided with a quick-connect locking position 26 that matches the detachable belt conveyor mechanism 3. The quick-connect locking position 26 includes a positioning hole and a locking insertion hole that communicates with the positioning hole in the vertical direction.

[0033] like Figure 2 As shown, the detachable belt conveyor mechanism 3 is detachably connected to the lifting frame assembly 2 via the quick-release locking position 26. The detachable belt conveyor mechanism 3 includes a first conveying frame 31, a drive roller 32, a driven roller 33, a food-grade conveyor belt 34, a conveying drive assembly 35, and a first quick-release locking assembly 36. The first conveying frame 31 is made of 304 food-grade stainless steel and has a rectangular frame structure. The drive roller 32 and the driven roller 33 are rotatably connected to the front and rear ends of the first conveying frame 31 via bearing seats, respectively. The food-grade conveyor belt 34 is sleeved between the drive roller 32 and the driven roller 33. In this embodiment, the food-grade conveyor belt 34 is a blue PU food-grade belt with a width of 600mm, a length of 1120mm, and a conveying speed of 120mm / s, which meets the safety standards for food contact materials.

[0034] The conveying drive assembly 35 includes a 57CM23 type conveying stepper motor 351 and a synchronous pulley set 352. The conveying stepper motor 351 is fixed to the side of the first conveying frame 31, and the output end of the conveying stepper motor 351 is connected to the drive roller 32 through the synchronous pulley set 352. The wiring terminal of the conveying stepper motor 351 is equipped with a waterproof aviation plug, which enables pluggable electrical connection with the electrical control assembly 5. No complicated wiring is required during disassembly and assembly, and the waterproof design is suitable for the water washing and cleaning environment of the food workshop.

[0035] The first quick-release locking assembly 36 includes four sets of first quick-release pins 361 symmetrically arranged on both sides of the bottom of the first conveying frame 31, and four positioning posts 362 fixed to the bottom of the first conveying frame 31. The positioning posts 362 are fitted with the positioning holes of the quick-release locking position 26 with a clearance. By rotating the first rotating handle 363, the first quick-release pins 361 can be inserted into the locking holes, locking the positioning posts 362 in the positioning holes. The first conveying frame 31 and the lifting frame assembly 2 can be quickly locked and disassembled without tools. A single person can complete the disassembly and assembly in 30 seconds, which greatly improves cleaning efficiency.

[0036] The AGV dough conveying equipment is also equipped with a food-grade nylon baffle 70. The nylon baffle 70 is detachably fixed to the top of the first conveying frame 31. The inner side of the nylon baffle 70 is a smooth food-grade contact surface. The distance between the two sides of the nylon baffle 70 matches the size of the dough to be conveyed, preventing the dough from deviating during conveying. At the same time, the nylon baffle 70 can be quickly disassembled, leaving no dead corners for cleaning. The top of the first conveying frame 31 is provided with multiple vertically upward limiting protrusions 71, and the side of the limiting protrusions 71 is provided with through holes 72; the baffle 70 is provided with a limiting block 80 corresponding to the limiting protrusions 71, the limiting block 80 is provided on the outside of the baffle 70, the bottom of the limiting block 80 is provided with a limiting insertion hole 81 vertically corresponding to the limiting protrusions 71, and the side of the limiting block 80 is also provided with a limiting hole 84 communicating with the limiting insertion hole 81. The second quick-release pin 82 is inserted into the limiting hole 84 and passes through the through hole 72, locking the limiting protrusions 71 in the limiting insertion hole 81, thereby locking the baffle 70 and the first conveying frame 31.

[0037] An integrated powder-spreading and anti-sticking mechanism is fixed to the feed end of the detachable belt conveyor mechanism 3, including a powder storage box, a powder-spreading roller, a drive motor, and a photoelectric sensor. The powder storage box is made of 304 stainless steel and is fixed to the top of the feed end of the first conveyor frame 31. A strip-shaped powder outlet groove is provided at the bottom of the powder storage box. The powder-spreading roller is rotatably connected to the powder outlet groove. The drive motor is fixed to the side of the powder storage box, and the output end of the drive motor is coaxially connected to the powder-spreading roller. The photoelectric sensor is fixed to the feed side of the powder storage box, and the detection end of the photoelectric sensor faces the feed direction of the food-grade conveyor belt 34. The photoelectric sensor is connected to the drive motor and the electrical control assembly 5. When the photoelectric sensor detects that dough has entered the conveyor belt, the electrical control assembly 5 controls the drive motor to drive the powder-spreading roller to rotate, so that the flour in the powder storage box is evenly spread onto the conveyor belt through the powder outlet groove to prevent the dough from sticking to the belt. When there is no dough, the powder spreading automatically stops to avoid flour waste.

[0038] The electrical control assembly 5 includes a PLC controller, a stepper amplifier module, a weighing module, a signal input module, a signal output module, and a safety protection module. The PLC controller is a Mitsubishi FX3U-32MT / DS programmable controller, which is fixed in the electrical cabinet compartment 13. The stepper amplifier module includes two sets of Leadshine MA860C stepper amplifiers, which are electrically connected to the lifting stepper motor 241 and the conveying stepper motor 351, respectively, to control the lifting and conveying actions.

[0039] The weighing module includes a weighing sensor and a weighing display D800. The weighing sensor is fixed to the bottom of the upper movable frame 22 and contacts the bottom of the detachable belt conveyor mechanism 3. It is used to detect the weight of the dough on the conveyor belt. The weighing display is connected to the PLC controller. When the weight of the dough reaches the set value, the PLC controller triggers the subsequent transfer process.

[0040] The signal input module includes a lifting shaft origin proximity switch LS00, a lifting positive limit switch LS001, a lifting negative limit switch LS002, a manual / automatic switch, an AGV arrival signal sensor, an origin return switch, an automatic start switch, and an abnormality release switch, all of which are electrically connected to the X0-X17 input terminals of the PLC controller. The signal output module is electrically connected to the Y00-Y17 output terminals of the PLC controller, outputting pulse signals and direction signals to the stepper amplifier module respectively, and simultaneously controlling the operation of the audible and visual alarm and the powder spreading mechanism.

[0041] The safety protection module includes a MY4N-GS type emergency stop relay, which is connected to the emergency stop button and PLC controller signal. When any emergency stop button is triggered, the emergency stop relay instantly cuts off the power supply to all motors, and at the same time, the PLC controller triggers an audible and visual alarm to realize emergency stop protection for all equipment. Meanwhile, the lifting limit switch can realize the limit protection of the lifting stroke to prevent damage to the equipment due to overtravel.

[0042] When using the equipment in this embodiment, the automatic mode can be switched through the operation panel. The AGV body 1 travels to the turning machine station according to the preset route. After arriving at the station, the lifting frame assembly 2 is adjusted to the docking height. The turning machine puts the dough onto the food-grade conveyor belt 34. The photoelectric sensor triggers the integrated powder-sprinkling and anti-sticking mechanism to automatically sprinkle powder. The weighing module detects the weight of the dough in real time. After the weight reaches the standard, the conveying mechanism stops operating. The AGV body 1 travels to the segmenting machine station. The lifting frame assembly 2 is adjusted to the corresponding docking height. The conveying mechanism starts to transport the dough to the segmenting machine. After completion, the AGV can travel to the next station, or carry multiple sets of belt conveying mechanisms through the first limit bracket 25 to realize the synchronous transfer of dough at multiple stations.

[0043] When cleaning and maintenance are required, simply unplug the waterproof aviation plug and pull out the first quick-release pin 361 to remove the entire detachable belt conveyor mechanism 3. At the same time, the nylon baffle 70, rollers, and belt can be quickly disassembled for thorough cleaning and disinfection, leaving no dead corners and fully meeting the hygiene requirements of food production.

[0044] Example 2 Reference Figure 4The detachable belt conveyor mechanism 3 has a first conveying frame 31 fixedly connected to multiple second limiting brackets. Each second limiting bracket is provided with a quick-release locking position 26 that matches the second quick-release locking assembly of the second conveying frame. Second quick-release locking assemblies are symmetrically arranged on both sides of the second conveying frame. The detachable belt conveyor mechanism 3 also has a second conveying frame fixedly connected to multiple third limiting brackets. Each third limiting bracket is provided with a quick-release locking position 26 that matches the third quick-release locking assembly of the third conveying frame. Third quick-release locking assemblies are symmetrically arranged on both sides of the third conveying frame. The working principle of the second and third quick-release locking assemblies is the same as that of the first quick-release locking assembly. A baffle 70 can also be detachably installed on the top of the second or third conveying frame.

[0045] In this embodiment, three sets of detachable belt conveyor mechanisms 3 can be carried simultaneously to achieve synchronous transfer of multi-layer dough.

[0046] Example 3 Reference Figure 6 The detachable belt conveyor mechanism 3 further includes a position adjustment device and a locking connection device. The position adjustment device includes multiple sets of positioning posts 362. In this embodiment, the first conveying frame 31 of the left-side AGV dough automated conveying equipment is provided with three sets of positioning posts 362, for a total of 12 positioning posts 362. The third conveying frame of the right-side AGV dough automated conveying equipment is provided with three sets of positioning posts 362, for a total of 12 positioning posts 362. Each layer of conveying frame can be provided with multiple sets of positioning posts 362. In this way, when the positioning hole of the quick-locking position 26 of this layer engages with the positioning posts 362 at different positions of the upper layer of conveying frame, the position of the upper layer of conveying frame can be adjusted to realize different position settings of the conveying frame.

[0047] The locking connection device includes a rotating plate 521 and a limiting post 522. The rotating plate 521 is disposed at one end of the conveying frame, and the limiting post 522 is disposed at the other end of the conveying frame. (Refer to...) Figure 6The left-side AGV dough conveying device has a rotating plate 521 at the right end of its first conveying frame 31, and a limiting post 522 at the left end of its third conveying frame. The rotating plate 521 is hinged to the first conveying frame 31 on the left, and a limiting slot 520 is provided on the right side. Rotating the rotating plate 521 causes the limiting slot 520 to engage with the limiting post 522. Both sides are connected by symmetrically arranged locking devices, allowing the two AGV dough conveying devices to be detachably connected. By adjusting both AGV dough conveying devices to left alignment using the position adjustment device, and then raising the first conveying frame 31 of the left AGV dough conveying device to be flush with the third conveying frame on the right, the two AGV dough conveying devices can achieve a 6-layer transport coordination. This application not only enables detachable vertical connections between different layers of conveyor frames, but also allows for horizontal position adjustment of the conveyor frames via a position adjustment device. Furthermore, through the cooperation of multi-layer conveyor frames, position adjustment devices, and locking connection devices, it enables multi-layer conveyor frame transmission after connecting different AGV dough automated conveying equipment, and is not limited to multi-layer transmission of a single AGV dough automated conveying equipment.

[0048] Although this application has been described and illustrated with reference to specific embodiments thereof, such description and illustration are not limiting of this application. It will be readily understood by those skilled in the art that various changes can be made and equivalent elements can be substituted within embodiments without departing from the true spirit and scope of this application as defined by the appended claims. Illustrations may not be drawn to scale. Differences may exist between the technical representation in this application and actual implementation due to variables in the manufacturing process, etc. Other embodiments of this application may exist that are not specifically described. The description and illustrations should be considered illustrative rather than restrictive. Modifications can be made to adapt particular circumstances, materials, composition, methods, or processes to the objectives, spirit, and scope of this application. All such modifications fall within the scope of the appended claims. While the methods disclosed herein have been described with reference to specific operations performed in a particular order, it should be understood that these operations can be combined, subdivided, or reordered to form equivalent methods without departing from the teachings of this application. Therefore, unless specifically indicated herein, the order and grouping of operations do not limit this application.

Claims

1. An AGV (Automated Guided Vehicle) dough conveying equipment, characterized in that, Includes AGV vehicle body assembly, lifting frame assembly (2), at least one set of detachable belt conveyor mechanism (3), and electrical control assembly (5); The lifting frame assembly (2) is located above the AGV body assembly, and the lifting frame assembly (2) and the AGV body assembly are detachably connected. The lifting frame assembly (2) includes a lower fixed frame (21), an upper movable frame (22), a lifting drive assembly (24), an electrical cabinet compartment (13), and multiple first limiting brackets (25); the lifting drive assembly (24) is located between the lower fixed frame (21) and the upper movable frame (22) and is used to drive the upper movable frame (22) to rise and fall in the vertical direction; the electrical cabinet compartment (13) is located inside the lower fixed frame (21) and an electrical control assembly (5) is located inside the electrical cabinet compartment (13); the first limiting brackets (25) are fixedly connected to the upper movable frame (22), and each of the first limiting brackets (25) is provided with a quick-locking position (26) that matches the detachable belt conveyor mechanism (3); The detachable belt conveyor mechanism (3) includes a first conveyor frame (31), an active roller (32) and a driven roller (33) rotatably connected to both ends of the first conveyor frame (31), a conveyor belt (34) sleeved between the active roller (32) and the driven roller (33), a conveyor drive assembly (35) fixed to the side of the first conveyor frame (31), and a first quick-release locking assembly (36) symmetrically arranged on both sides of the first conveyor frame (31); the first quick-release locking assembly (36) matches the quick-insertion locking position (26), and the detachable belt conveyor mechanism (3) is detachably connected to the lifting frame assembly (2) through the quick-insertion locking position (26) to realize the quick locking and disassembly of the first conveyor frame (31) and the lifting frame assembly (2); The electrical control assembly (5) is electrically and signal connected to the lifting drive assembly (24) and the conveying drive assembly (35) respectively, and is used to control the operation of the equipment.

2. The AGV dough automated conveying equipment according to claim 1, characterized in that, The first conveying frame (31) of the detachable belt conveyor mechanism (3) is fixedly connected with multiple second limiting brackets. Each second limiting bracket is provided with a quick-release locking position (26) that matches the second quick-release locking component of the second conveying frame. The second quick-release locking components are symmetrically arranged on both sides of the second conveying frame.

3. The AGV dough automated conveying equipment according to claim 2, characterized in that, The second conveying frame of the detachable belt conveyor mechanism (3) is fixedly connected with multiple third limiting brackets. Each third limiting bracket is provided with a quick-release locking position (26) that matches the third quick-release locking component of the third conveying frame. The third quick-release locking components are symmetrically arranged on both sides of the third conveying frame.

4. The AGV dough automated conveying equipment according to claim 1, characterized in that, The first quick-release locking assembly (36) includes at least four positioning posts (362) symmetrically fixed on both sides of the first conveying frame (31) and at least four sets of first quick-release pins (361) symmetrically arranged on both sides of the first conveying frame (31); the quick-release locking position (26) includes a positioning hole arranged on the first limiting bracket (25) plate and a locking insertion hole communicating with the positioning hole; the positioning post (362) is clearance-fitted with the positioning hole, and the first quick-release pin (361) can be inserted into the locking insertion hole to lock the positioning post (362) in the positioning hole, thereby realizing the locking of the first conveying frame (31) and the lifting frame assembly (2).

5. The AGV dough automated conveying equipment according to claim 1, characterized in that, The lifting drive assembly (24) includes a lifting stepper motor (241) with a brake, a ball screw (242), a screw nut seat (243), and multiple sliding shafts (244). The lifting stepper motor (241) is fixed in the middle of the lower fixed frame (21). The output end of the lifting stepper motor (241) is coaxially fixedly connected to the ball screw (242). The screw nut seat (243) is sleeved on the ball screw (242). The lifting stepper motor (241) drives the ball screw (242) to rotate, which drives the screw nut seat (243) to move along the screw axis, thereby driving the multiple sliding shafts (244) to move vertically, realizing the vertical lifting of the upper movable frame (22).

6. The AGV dough automated conveying equipment according to claim 3, characterized in that, The AGV dough automated conveying equipment further includes a baffle (70), and the baffle (70) and the first conveying frame (31), the second conveying frame or the third conveying frame are detachably connected.

7. The AGV dough automated conveying equipment according to claim 6, characterized in that, The first conveying frame (31), the second conveying frame, and the third conveying frame are provided with multiple vertically upward limiting protrusions (71) on their tops, and through holes (72) are provided on the sides of the limiting protrusions (71). A limiting block (80) is provided on the baffle (70) corresponding to the limiting protrusions (71). The limiting block (80) is located on the outside of the baffle (70). A limiting insertion hole (81) is provided vertically at the bottom of the limiting block (80) corresponding to the limiting protrusions (71). A limiting hole (84) communicating with the limiting insertion hole (81) is also provided on the side of the limiting block (80). A second quick-release pin (82) is inserted into the limiting hole (84) and passes through the through hole (72) to lock the limiting protrusions (71) in the limiting insertion hole (81), thereby locking the baffle (70) and the first conveying frame (31), the second conveying frame, or the third conveying frame.

8. The AGV dough automated conveying equipment according to claim 1, characterized in that, The conveying drive assembly (35) includes a conveying stepper motor (351) and a synchronous pulley set (352); the conveying stepper motor (351) is fixed to the side of the first conveying frame (31), and the output end of the conveying stepper motor (351) is connected to the drive roller (32) through the synchronous pulley set (352).

9. The AGV dough automated conveying equipment according to claim 1, characterized in that, The AGV vehicle assembly includes an AGV body (1) and a support chassis fixed to the top of the AGV body (1). The lower fixed frame (21) is detachably connected to the support chassis.

10. The AGV dough automated conveying equipment according to claim 1, characterized in that, An infrared sensor (92) and a weighing rod (91) are installed inside the lower fixed frame (21). The lifting drive assembly (24) drives the weighing rod (91) to move vertically up and down. The infrared sensor (92) is used to measure the height of the weighing rod (91). The infrared sensor (92) and the electrical control assembly (5) are electrically connected.

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