AGV-based electric control cabinet combined carrying device

Abstract

The application provides an electric control cabinet combined carrying device based on AGV, which comprises an AGV operation vehicle and an auxiliary support vehicle, the AGV operation vehicle comprises a crossbeam connecting frame, single-side support modules are connected to both ends of the crossbeam connecting frame to form a door type structure, a rotatable rotating hanger is arranged at the lower end of the middle part of the crossbeam connecting frame, and the rotating hanger is used for hoisting an electrical cabinet, the single-side support module comprises a base frame, transverse connecting arms are arranged at the upper end and the lower end of the base frame respectively, lifting leg units are arranged on the two sides of the base frame respectively, walking units are arranged at the lower end of the lifting leg units, the auxiliary support vehicle comprises an enclosing frame, a plurality of lower supporting legs are arranged at the lower end of the enclosing frame, universal wheels are arranged at the lower end of each lower supporting leg, the auxiliary support vehicle is connected to the inner side of the door type structure of the AGV operation vehicle, and the auxiliary support vehicle can be separated from the AGV operation vehicle, so that the problem that ground obstacles are difficult to cross when the ground type carrying device is used to carry the electrical cabinet is solved.

Description

Technical Field

[0001] This invention relates to the field of AGVs (Automated Guided Vehicles), and in particular to an AGV-based electrical control cabinet combination handling device. Background Technology

[0002] Currently, the moving of electrical cabinets into the factory or their routine relocation is usually accomplished using overhead cranes within the factory premises. In cases where the factory area is small or there are no overhead cranes, the relocation is generally completed manually with the assistance of handcarts or hydraulic forklifts to lift the electrical cabinets.

[0003] Because some extra-long and extra-high electrical cabinets obstruct a large area, visibility is limited when moving them with forks. Therefore, it is usually necessary to have another worker guide them from the front, which is time-consuming and labor-intensive. In addition, extra-long and extra-high electrical cabinets have a high center of gravity, and there is a risk of tipping over if they are directly moved by forks. Furthermore, when passing through narrow passages, the electrical cabinets are also prone to collisions with door frames or other equipment in the factory area, causing damage.

[0004] Because there are obstacles such as cable trays and cables on the ground in the equipment area of ​​the factory, it is not allowed to run over them directly, otherwise it will cause damage to the lines. If the obstacles are high, they may also cause the forklift to tip over. Summary of the Invention

[0005] This invention provides an AGV-based combined handling device for electrical control cabinets, which solves the problem of difficulty in crossing ground obstacles when using ground-based handling devices to transport electrical cabinets.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: an AGV-based electrical control cabinet combination handling device, including an AGV operating vehicle and an auxiliary support vehicle. The AGV operating vehicle includes a crossbeam connecting frame, with single-sided support modules connected to both ends of the crossbeam connecting frame to form a portal structure. A rotatable rotating hanger is provided at the lower middle part of the crossbeam connecting frame for lifting the electrical cabinet. The single-sided support module includes a base frame, with transverse connecting arms at both the upper and lower ends of the base frame. Lifting leg units are provided on both sides of the base frame, and a walking unit is provided at the lower end of the lifting leg units. The auxiliary support vehicle includes an enclosure frame, with multiple lower support legs at the lower end of the enclosure frame. Each lower support leg is equipped with a caster wheel at its lower end. The auxiliary support vehicle is connected to the inner side of the portal structure of the AGV operating vehicle, and the auxiliary support vehicle and the AGV operating vehicle can be separated.

[0007] In a preferred embodiment, the lifting leg unit includes an outer tube, one side of which is connected to each lateral connecting arm. The outer tube is provided with a liftable lower inner tube, the lower end of which is connected to a walking unit. The auxiliary support vehicle is connected to the outer tube.

[0008] In the preferred embodiment, the enclosure frame is a rectangular structure with L-shaped brackets at each corner. The upper end of the lower support leg is connected to the L-shaped bracket. Each L-shaped bracket has insertion holes at both ends. A transverse connecting rod assembly connects adjacent L-shaped brackets. The transverse connecting rod assembly includes a first double-ended screw. Each end of the first double-ended screw has a threaded sleeve rod. The threads at both ends of the first double-ended screw have opposite directions. Each sleeve rod has a retractable positioning pin at its end. The L-shaped bracket has multiple positioning holes, and the positioning pin is inserted into the positioning holes.

[0009] In the preferred embodiment, the lower support leg has an annular portion at its lower end, and a rotatable base is fitted onto the annular portion. The base is used to abut against the lower end of the electrical cabinet. The lower support leg also has a threaded lifting screw, and a caster mounting block is provided at the lower end of the lifting screw. A swivel wheel is connected to the lower end of the caster mounting block.

[0010] In the preferred embodiment, a connecting seat is provided on one side of the L-shaped frame. The connecting seat has a tongue hole, a docking block, and a second double-ended screw. One end of the docking block has a tongue portion that slides into the tongue hole. The two ends of the second double-ended screw are threadedly connected to the connecting seat and the docking block, respectively. The threads at both ends of the docking block rotate in opposite directions. A positioning block is provided on the inner end of the lifting leg unit. The positioning block slides into the docking block.

[0011] In a preferred embodiment, the positioning block is provided with a linear guide seat, which has a guide groove and a pin. One end of the pin has a guide end that is slidably connected to the guide groove. The end of the linear guide seat is provided with a pin motor, the shaft end of which is connected to an intermediate screw. The intermediate screw and the pin are threaded together. The end of the mating block is provided with a guide groove, which has a first pin hole. The positioning block is provided with a second pin hole that is slidably engaged with the guide groove, which has a locking part. The pin motor drives the pin to insert into the locking part and the first pin hole.

[0012] In a preferred embodiment, the end of the threaded sleeve is provided with a through hole, the positioning insertion hole is provided with a flange and is located in the through hole, the two ends of the through hole are respectively provided with a stop ring and a rear cap, and a spring is also provided in the through hole. The two ends of the spring are respectively stopped on the positioning insertion hole and the rear cap, and the stop ring stops the flange.

[0013] In the preferred embodiment, the outer sleeve has a hollowed-out groove on its side wall, and a linear push cylinder is also provided at the outer end of the outer sleeve near the base frame. The cylinder rod end of the linear push cylinder is connected to the lower inner tube through the hollowed-out groove. In a preferred embodiment, the traveling unit includes a main frame, a horizontally rotatable wheel frame at the lower end of the main frame, rotatable traveling wheels on the wheel frame, a steering motor at the upper end of the main frame, the steering motor being located inside the lower end of the inner tube, the wheel frame having a wheel frame shaft, the steering motor shaft being connected to the wheel frame shaft, and a traveling motor at the side end of the wheel frame, the traveling motor shaft being connected to the traveling wheels.

[0014] In the preferred embodiment, the base frame is a hollow structure, and an electrical control cabinet is installed inside the base frame. A hollow lower extension frame is provided between the two walking units at the lower end of the base frame, and a battery module is installed inside the lower extension frame.

[0015] The beneficial effects of this invention are as follows: It uses a gantry AGV (Automated Guided Vehicle) for automatic transfer of electrical cabinets, requiring no human intervention and saving labor costs; the electrical cabinet is located inside the gantry structure of the AGV, making it less prone to collisions with other equipment; the AGV lifts the electrical cabinet from above, preventing it from tipping over due to its high center of gravity; each lifting leg unit of the AGV can be raised and lowered independently, and when climbing slopes, the rotating frame can be adjusted to remain horizontal, allowing for the transport of electrical cabinets on uneven surfaces with stable posture and no tilting, ensuring safe and reliable transport; the AGV is flexible and maneuverable, capable of traveling straight, horizontally, and diagonally; turning at any radius and rotating in place; and multiple AGVs can be combined to transport oversized electrical cabinets. Equipped with an independently movable auxiliary support vehicle, it can be connected to the AGV work vehicle as a central limiting frame for electrical cabinets, or it can be removed from the AGV work vehicle to be used as a transfer tool for electrical cabinets in narrow spaces. When crossing ground obstacles, it can also be used as an auxiliary support to prevent tipping due to instability caused by the raised one-sided travel wheel of the work vehicle. The auxiliary support vehicle is equipped with a sliding plate and locking pin structure, which can automatically dock and lock with the AGV work vehicle as it moves, making it flexible and convenient to use. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Figure 1 It is a combined obstacle-crossing state of AGV operation vehicle and auxiliary support vehicle. Figure 1 .

[0018] Figure 2 It is a combined obstacle-crossing state of AGV operation vehicle and auxiliary support vehicle. Figure 2 .

[0019] Figure 3 It is a combined obstacle-crossing state of AGV operation vehicle and auxiliary support vehicle. Figure 3 .

[0020] Figure 4 This is a diagram showing the AGV (Automated Guided Vehicle) in standalone use.

[0021] Figure 5 This is a schematic diagram of the crossbeam connecting frame.

[0022] Figure 6 This is a structural diagram of the rotating hanger.

[0023] Figure 7 This is a schematic diagram of a single-sided support module.

[0024] Figure 8 This is a schematic diagram of the lifting leg guide structure.

[0025] Figure 9 This is a side view of a single-sided support module.

[0026] Figure 10 This is a schematic diagram of the lifting leg unit.

[0027] Figure 11 This is a cross-sectional view of the lifting leg guide structure.

[0028] Figure 12 This is a cross-sectional view of the walking unit.

[0029] Figure 13 This is a schematic diagram of the auxiliary support vehicle operating independently.

[0030] Figure 14 This is a structural diagram of the auxiliary support vehicle.

[0031] Figure 15 This is a schematic diagram of the side frame of the auxiliary support vehicle.

[0032] Figure 16 This is a structural diagram of the transverse linkage assembly.

[0033] Figure 17 This is a schematic diagram of the base.

[0034] Figure 18 This is a cross-sectional view of the positioning pin.

[0035] Figure 19 This is a sectional view of the second double-ended screw.

[0036] Figure 20 This is a cross-sectional view of the positioning block.

[0037] Figure 21 This is a diagram of the positioning card block structure.

[0038] In the diagram: 1. Basic frame; 101. Electrical control cabinet; 102. Lateral connecting arm; 2. Lifting leg unit; 201. Outer tube; 202. Hollowed-out groove; 203. Lower extension inner tube; 204. Linear push cylinder; 205. Linear guide rail; 206. Wheel seat; 207. Guide wheel; 208. Hollowed-out hole; 209. Conical surface; 3. Walking unit; 301. Walking wheel; 302. Main frame; 303. Steering motor; 304. Walking motor; 305. Wheel frame; 306. Wheel frame shaft; 4. Lower extension frame; 401. Battery module; 5. Crossbeam connecting frame; 501. Rotating bearing; 6. Rotating hanger; 601. Connecting turntable; 602. Lifting lug; 7. Auxiliary support vehicle; 701. Enclosure frame; 702. Lower support leg; 703. Universal wheel; 704. L-shaped frame; 705. Lateral connecting rod assembly. Insertion hole 706; First double-ended screw 707; Screw sleeve 708; Positioning pin 709; Positioning insertion hole 710; Annular part 711; Base support 712; Lifting screw 713; Caster mounting block 714; Connecting seat 715; Tongue hole 716; Through hole 717; Stop ring 718; Spring 719; Rear end cap 720; Flange part 721; Connecting block 8; Tongue part 801; Second double-ended screw 802; Guide groove end 803; First pin hole part 804; Positioning block 9; Linear guide seat 901; Guide groove hole 902; Pin 903; Guide end 904; Intermediate screw 905; Pin motor 906; Snap-fit ​​part 907; Second pin hole part 908; Single-sided support module 10; AGV operation vehicle 11. Detailed Implementation

[0039] like Figure 1-5 In this invention, an AGV-based electrical control cabinet combination handling device is disclosed, comprising an AGV operation vehicle 11 and an auxiliary support vehicle 7. The AGV operation vehicle 11 includes a crossbeam connecting frame 5, with single-sided support modules 10 connected to both ends of the crossbeam connecting frame 5 to form a portal structure. A rotatable rotating hanger 6 is provided at the lower middle part of the crossbeam connecting frame 5 for lifting electrical cabinets. The single-sided support module 10 includes a base frame 1, with transverse connecting arms 102 at both the upper and lower ends of the base frame 1. Lifting leg units 2 are provided on both sides of the base frame 1, with a walking unit 3 at the lower end of the lifting leg units 2. The auxiliary support vehicle 7 includes an enclosure frame 701, with multiple lower support legs 702 at the lower end of the enclosure frame 701. Each lower support leg 702 has a universal wheel 703 at its lower end. The auxiliary support vehicle 7 is connected to the inner side of the portal structure of the AGV operation vehicle 11, and the auxiliary support vehicle 7 and the AGV operation vehicle 11 are separable.

[0040] The lower end of the rotating hanger 6 is provided with multiple lifting lugs 602, which are used to suspend the electrical cabinet. The lower center of the crossbeam connecting frame 5 is equipped with a rotating bearing 501, and the upper center of the rotating hanger 6 is equipped with a connecting turntable 601, which is connected to the rotating bearing 501.

[0041] For areas that are relatively narrow or have narrow reserved passageways, workers can first install the auxiliary support vehicle 7 onto the electrical cabinet, move the electrical cabinet out of the narrow area, stack it in an open area, and then use the remote-controlled AGV operation vehicle 11 to lift the electrical cabinet away.

[0042] For normal use in open areas, the electrical cabinet can be directly hoisted using a rotating sling 6. Then, the auxiliary support vehicle 7 is connected to the AGV work vehicle 11 and the outer side of the electrical cabinet is restrained to limit its swing.

[0043] In a preferred embodiment, the lifting leg unit 2 includes an outer tube 201, one side of which is connected to each of the transverse connecting arms 102. The outer tube 201 is provided with a liftable lower extension inner tube 203, the lower end of each lower extension inner tube 203 is connected to the walking unit 3, and the auxiliary support vehicle 7 is connected to the outer tube 201.

[0044] Since the travel wheels of the travel unit 3 have a larger diameter than the casters 703, they have a strong ability to cross bumps and climb slopes. When used in combination, the lower inner tube 203 descends to raise the outer tube 201, and the casters 703 detach from the ground. The travel unit 3 is still the main vehicle for movement.

[0045] The lower inner tube 203 is embedded inside the outer tube 201 and can be retracted and extended.

[0046] The outer tube 201 and the lower inner tube 203 adopt a tubular structure with a hollow structure in the extension direction, which not only reduces weight but also makes it easy to observe the extension status of the lower inner tube 203.

[0047] Overall, the single-sided support module has a narrow and long sheet-like structure on the side. The modular design is more compact, simple and beautiful. It can be assembled as a whole and then connected to the crossbeam of the gantry AGV, making installation convenient.

[0048] In the preferred embodiment, the enclosure frame 701 is a rectangular structure with L-shaped brackets 704 at each corner. The upper end of the lower support leg 702 is connected to the L-shaped bracket 704. Each L-shaped bracket 704 has insertion holes 706 at both ends. A transverse connecting rod assembly 705 connects adjacent L-shaped brackets 704. The transverse connecting rod assembly 705 includes a first double-ended screw 707. Each end of the first double-ended screw 707 has a threaded sleeve rod 708. The threads at both ends of the first double-ended screw 707 have opposite directions. Each end of the sleeve rod 708 has a retractable positioning pin 709. The L-shaped bracket 704 has multiple positioning holes 710. The positioning pin 709 is inserted into the positioning hole 710.

[0049] In use, first assemble the transverse link assembly 705 and the L-shaped frames 704 at both ends into a U-shaped half-frame structure, and then connect the two half-frame structures into a whole enclosure frame 701 using the two transverse link assemblies 705.

[0050] Since the width and thickness of the electrical cabinet vary greatly, you can first select the positioning socket 710 to which the positioning pin 709 is inserted according to the specifications, and then clamp the electrical cabinet by rotating the first double-ended screw 707 a few turns.

[0051] In a preferred embodiment, the lower support leg 702 has an annular portion 711 at its lower end, and a rotatable base support 712 is fitted onto the annular portion 711. The base support 712 is used to abut against the lower end of the electrical cabinet. The lower support leg 702 also has a threaded lifting screw 713 at its lower end, and a caster mounting block 714 is provided at the lower end of the lifting screw 713. The lower end of the caster mounting block 714 is connected to a universal wheel 703.

[0052] When encountering recessed or protruding cable trays or other difficult-to-bypass ground cables in the factory area, the traveling unit 3 on one side or corner of the AGV 11 is raised, using the multiple casters 703 of the auxiliary support vehicle 7 to support the ground. After crossing the obstacle, the traveling unit 3 returns to the ground for support. Subsequently, the four outer sleeves 201 are raised as a whole, lifting the auxiliary support vehicle 7, and the AGV 11 continues to move forward, allowing the auxiliary support vehicle 7 to cross the obstacle. Finally, the auxiliary support vehicle 7 descends back to the ground for support, and the traveling unit 3 at the rear of the AGV 11 is raised and crosses the obstacle.

[0053] In the preferred embodiment, the L-shaped frame 704 is further provided with a connecting seat 715 on one side. The connecting seat 715 is provided with a tongue hole 716, a docking block 8, and a second double-ended screw 802. One end of the docking block 8 is provided with a tongue part 801, which is slidably inserted into the tongue hole 716. The two ends of the second double-ended screw 802 are respectively threaded to the connecting seat 715 and the docking block 8. The threads at both ends of the docking block 8 rotate in opposite directions. The inner end of the lifting leg unit 2 is provided with a positioning block 9, which is slidably inserted into the docking block 8.

[0054] Since the width of the auxiliary support vehicle 7 is related to the thickness of the electrical cabinet to be moved, when moving a specific model of electrical cabinet, it is necessary to adjust the distance between the connecting seat 715 and the docking block 8 in advance by using the second double-headed screw 802 so that the docking block 8 is close to the inside of the lifting leg unit 2 and can dock with the positioning card block 9.

[0055] In a preferred embodiment, the positioning block 9 is provided with a linear guide seat 901, a guide slot 902 is provided in the linear guide seat 901, and a pin 903 is also provided. One end of the pin 903 is provided with a guide end 904, which is slidably connected to the guide slot 902. The end of the linear guide seat 901 is provided with a pin motor 906, and the shaft end of the pin motor 906 is connected to an intermediate screw 905. The intermediate screw 905 is threadedly connected to the pin 903. The end of the mating block 8 is provided with a guide groove end 803, and a first pin hole portion 804 is provided at the guide groove end 803. The positioning block 9 is provided with a second pin hole portion 908 that is slidably engaged with the guide groove end 803. A locking portion 907 is provided at the second pin hole portion 908. The pin motor 906 drives the pin 903 to insert into the locking portion 907 and the first pin hole portion 804.

[0056] The guide end 904 and the guide slot 902 have polygonal cross-sections to prevent the pin 903 from rotating along with the intermediate screw 905 when the screw 905 rotates.

[0057] A vision positioning system is installed on the upper part of the AGV operation vehicle 11, and a positioning target is engraved on the docking block 8. The coordinate position of the auxiliary support vehicle 7 can be confirmed through the positioning target of the auxiliary support vehicle 7. Subsequently, the AGV operation vehicle 11 automatically docks with the auxiliary support vehicle 7. Alternatively, the AGV operation vehicle 11 can be manually moved to the vicinity of the auxiliary support vehicle 7 and docked with it via a remote control.

[0058] The AGV operation vehicle 11 moves to the vicinity of the auxiliary support vehicle 7 and adjusts the height of the positioning block 9 to be equal to that of the docking block 8. Then, the AGV operation vehicle 11 approaches the auxiliary support vehicle 7, and the second pin hole 908 gradually slides into the guide groove end 803. When the locking part 907 is aligned with the first pin hole 804, the pin motor 906 drives the intermediate screw 905 to rotate, and the pin 903 moves down along the guide groove 902 and inserts into the locking part 907 and the first pin hole 804, locking the docking block 8 and the positioning block 9.

[0059] In a preferred embodiment, the end of the threaded sleeve 708 is provided with a through hole 717, the positioning pin 709 is provided with a flange portion 721 and is provided in the through hole 717, the two ends of the through hole 717 are respectively provided with a stop ring 718 and a rear cap 720, and a spring 719 is also provided in the through hole 717. The two ends of the spring 719 are respectively stopped on the positioning pin 709 and the rear cap 721, and the stop ring 718 stops the flange portion 721.

[0060] When inserting, press the positioning pin 709 to allow the end of the threaded rod 708 to enter the insertion hole 706, then twist the transverse connecting rod assembly 705 so that the positioning pin 709 faces to the side. When it is close to the positioning insertion hole 710 to be positioned, twist the transverse connecting rod assembly 705 to the right, and the positioning pin 709 will automatically lift up and be inserted into the positioning insertion hole 710.

[0061] Pressing down the positioning pin 709 causes the positioning pin 709 to retract into the through hole 717, at which point the threaded sleeve 708 can be pulled out from the insertion hole 706.

[0062] In the preferred embodiment, the outer sleeve 201 has a hollowed-out groove 202 on its side wall, and the outer end of the outer sleeve 201 near the base frame 1 is also provided with a linear push cylinder 204. The cylinder rod end of the linear push cylinder 204 is connected to the lower inner tube 203 through the hollowed-out groove 202. The outer tube 201 has multiple hollow holes 208 on its side wall. Each hollow hole 208 has a wheel seat 206 connected to the outer tube 201. The wheel seat 206 has a rotatable guide wheel 207. The lower inner tube 203 has vertical linear guide rails 205 on both sides. The guide wheel 207 rolls against the linear guide rail 205. The side of the linear guide rail 205 that contacts the guide wheel 207 has a conical surface 209. The guide wheel 207 is a V-shaped wheel.

[0063] The linear push cylinder 204 can be a servo electric cylinder. The linear push cylinder 204 is located in the gap between the base frame 1 and the lifting leg unit 2, which can play a role in anti-collision protection.

[0064] At least two wheel seats 206 are provided on one side of the middle section of the outer tube 201, and guide wheels 207 are installed thereon. By opening holes in the side wall, the guide wheels 207 can contact the linear guide rail 205 of the inner tube 203. The guide wheel type guiding structure reduces the coefficient of friction and improves the smoothness of the extension of the inner tube 203.

[0065] The use of V-shaped wheels and conical surface contact can limit the displacement of the lower inner tube 203 in two directions, eliminating the need for a constraint wheel in another vertical direction and simplifying the structure.

[0066] In a preferred embodiment, the walking unit 3 includes a main frame 302, a horizontally rotatable wheel frame 305 at the lower end of the main frame 302, a rotatable walking wheel 301 on the wheel frame 305, a steering motor 303 at the upper end of the main frame 302, the steering motor 303 is located inside the lower end of the lower inner tube 203, the wheel frame 305 is provided with a wheel frame shaft 306, the shaft end of the steering motor 303 is connected to the wheel frame shaft 306, and a walking motor 304 is also provided on the side end of the wheel frame 305, the shaft end of the walking motor 304 is connected to the walking wheel 301.

[0067] The steering motor 303 and the travel motor 304 can be servo motors or stepper motors, and are equipped with reducers to increase torque.

[0068] In the preferred embodiment, the base frame 1 is a hollow structure, and an electrical control cabinet 101 is provided inside the base frame 1. A hollow lower extension frame 4 is provided between the two walking units 3 at the lower end of the base frame 1, and a battery module 401 is provided inside the lower extension frame 4.

[0069] The basic frame 1 is a rectangular three-dimensional frame structure with a central open space for installing the electrical control cabinet 101. After the single-sided support modules form a portal AGV, the door of the electrical control cabinet 101 can be opened on the outside, allowing staff to easily open the cabinet door for debugging from a safe area on the outside.

[0070] The space between the two walking units 3 can be used to install the battery module 401.

[0071] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. An AGV-based electrical control cabinet combination handling device, characterized in that: The AGV operation vehicle (11) and the auxiliary support vehicle (7) are included. The AGV operation vehicle (11) includes a crossbeam connecting frame (5). The two ends of the crossbeam connecting frame (5) are connected to a single-sided support module (10) to form a portal structure. The lower part of the middle of the crossbeam connecting frame (5) is provided with a rotatable rotating hanger (6). The rotating hanger (6) is used to lift the electrical cabinet. The single-sided support module (10) includes a base frame (1). The upper and lower ends of the base frame (1) are each provided with a horizontal connecting arm (102). The two sides of the base frame (1) are each provided with a lifting leg unit (2). The lower end of the lifting leg unit (2) is provided with a walking unit (3). The auxiliary support vehicle (7) includes a surrounding frame (701). The lower end of the surrounding frame (701) is provided with multiple lower legs (702). The lower end of each lower leg (702) is provided with a universal wheel (703). The auxiliary support vehicle (7) is connected to the inner side of the portal structure of the AGV operation vehicle (11). The auxiliary support vehicle (7) and the AGV operation vehicle (11) can be separated.

2. The AGV-based electrical control cabinet combination handling device according to claim 1, characterized in that: The lifting leg unit (2) includes an outer tube (201), one side of which is connected to each horizontal connecting arm (102). The outer tube (201) is provided with a liftable lower extension inner tube (203), the lower end of each lower extension inner tube (203) is connected to the walking unit (3), and the auxiliary support vehicle (7) is connected to the outer tube (201).

3. The AGV-based electrical control cabinet combined handling device according to claim 2, characterized in that: The enclosure frame (701) is a rectangular structure and each corner of the rectangular structure is provided with an L-shaped frame (704). The upper end of the lower support leg (702) is connected to the L-shaped frame (704). Each L-shaped frame (704) has a plug hole (706) at both ends. A transverse connecting rod assembly (705) is connected between adjacent L-shaped frames (704). The transverse connecting rod assembly (705) includes a first double-ended screw (707). Each end of the first double-ended screw (707) is provided with a threaded sleeve rod (708). The threads at both ends of the first double-ended screw (707) are opposite. Each threaded sleeve rod (708) is provided with a retractable positioning pin (709) at its end. The L-shaped frame (704) is provided with multiple positioning holes (710). The positioning pin (709) is inserted into the positioning hole (710).

4. The AGV-based electrical control cabinet combination handling device according to claim 3, characterized in that: The lower support leg (702) has an annular part (711) at its lower end, and a rotatable base (712) is fitted on the annular part (711). The base (712) is used to abut against the lower end of the electrical cabinet. The lower support leg (702) also has a threaded lifting screw (713) at its lower end. The lower end of the lifting screw (713) has a caster mounting block (714), and the lower end of the caster mounting block (714) is connected to a universal wheel (703).

5. The AGV-based electrical control cabinet combined handling device according to claim 4, characterized in that: The L-shaped frame (704) is also provided with a connecting seat (715) on one side. The connecting seat (715) is provided with a tongue hole (716), a docking block (8) and a second double-ended screw (802). One end of the docking block (8) is provided with a tongue part (801). The tongue part (801) is slidably inserted into the tongue hole (716). The two ends of the second double-ended screw (802) are threadedly connected to the connecting seat (715) and the docking block (8) respectively. The threads at both ends of the docking block (8) are turned in opposite directions. The inner end of the lifting leg unit (2) is provided with a positioning block (9). The positioning block (9) is slidably inserted into the docking block (8).

6. The AGV-based electrical control cabinet combined handling device according to claim 5, characterized in that: The positioning block (9) is provided with a linear guide seat (901), the linear guide seat (901) is provided with a guide slot (902), and a pin (903) is also provided. One end of the pin (903) is provided with a guide end (904), the guide end (904) is slidably connected to the guide slot (902), and the end of the linear guide seat (901) is provided with a pin motor (906). The shaft end of the pin motor (906) is connected to an intermediate screw (905). The pin (903) is threadedly connected to the pin. The end of the mating block (8) is provided with a guide groove end (803). The guide groove end (803) is provided with a first pin hole (804). The positioning block (9) is provided with a second pin hole (908) that slides and engages with the guide groove end (803). The second pin hole (908) is provided with a snap-fit ​​part (907). The pin motor (906) drives the pin (903) to insert into the snap-fit ​​part (907) and the first pin hole (804).

7. The AGV-based electrical control cabinet combined handling device according to claim 3, characterized in that: The end of the threaded rod (708) is provided with a through hole (717), and the positioning pin (709) is provided with a flange (721) and is located in the through hole (717). The two ends of the through hole (717) are respectively provided with a stop ring (718) and a rear cap (720). A spring (719) is also provided in the through hole (717). The two ends of the spring (719) are respectively stopped on the positioning pin (709) and the rear cap (720). The stop ring (718) stops the flange (721).

8. The AGV-based electrical control cabinet combined handling device according to claim 2, characterized in that: The outer tube (201) has a hollowed-out groove (202) on its side wall. The outer end of the outer tube (201) near the base frame (1) is also provided with a linear push cylinder (204). The cylinder rod end of the linear push cylinder (204) is connected to the lower inner tube (203) through the hollowed-out groove (202).

9. The AGV-based electrical control cabinet combination handling device according to claim 1, characterized in that: The walking unit (3) includes a main frame (302), a horizontally rotatable wheel frame (305) at the lower end of the main frame (302), a rotatable walking wheel (301) on the wheel frame (305), a steering motor (303) at the upper end of the main frame (302), the steering motor (303) is located on the inner side of the lower end of the lower extension inner tube (203), the wheel frame (305) is provided with a wheel frame shaft (306), the shaft end of the steering motor (303) is connected to the wheel frame shaft (306), and a walking motor (304) is also provided on the side end of the wheel frame (305), the shaft end of the walking motor (304) is connected to the walking wheel (301).

10. The AGV-based electrical control cabinet combination handling device according to claim 1, characterized in that: The base frame (1) is a hollow structure. An electrical control cabinet (101) is installed inside the base frame (1). A hollow lower extension frame (4) is installed between the two walking units (3) at the lower end of the base frame (1). A battery module (401) is installed inside the lower extension frame (4).

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