Automatic loading and unloading equipment with AGV function

Abstract

This invention relates to an automatic loading and unloading device with AGV functionality, comprising an AGV vehicle body, a gripping mechanism, and a lifting and transferring mechanism. The gripping mechanism and the lifting and transferring mechanism are respectively disposed on both sides of the AGV vehicle body. The gripping mechanism includes a first vertical slide, a second vertical slide, and a first gripping component. The first vertical slide is disposed on the AGV vehicle body, the second vertical slide is disposed on the first vertical slide, and the first gripping component is disposed on the second vertical slide. By having the first vertical slide on the AGV vehicle body, the second vertical slide on the first vertical slide, and the first gripping component on the second vertical slide, the second vertical slide and the first gripping component can slide relative to each other, reducing the sliding stroke of the first gripping component. When movement is required, the second vertical slide can be slid to a lower position, effectively preventing the first and second vertical slides from tipping over when the AGV vehicle body moves.

Description

Technical Field

[0001] This invention relates to the field of automatic loading and unloading equipment, and in particular to an automatic loading and unloading equipment with AGV functionality. Background Technology

[0002] In SMT production lines, the loading and unloading of surface mount components (such as chip resistors and capacitors) after reflow soldering are critical steps affecting production line cycle time and first-pass yield. For a long time, the handling of SMT materials has relied primarily on manual labor. This method suffers from inherent drawbacks such as high labor costs, susceptibility to errors, low efficiency, and difficulty in managing night shifts, making it difficult to meet the demands of modern electronics manufacturing for unmanned and intelligent production lines. In recent years, the industry has proposed various SMT material handling solutions based on automated equipment or mobile robots. Existing SMT material handling robots typically use a boom structure to grasp materials. The boom is usually slidably mounted on a single vertical slide, which is generally set relatively high to accommodate different shelf heights. Due to the height of the single slide, the boom has a long vertical travel distance during operation, and there is a risk of tipping over during movement. Summary of the Invention

[0003] Therefore, it is necessary to provide an automated loading and unloading device with AGV functionality to address the problems of existing booms having long vertical travel distances and the risk of tipping over during operation.

[0004] An automatic loading and unloading device with AGV functionality includes an AGV vehicle body, a gripping mechanism, and a lifting and transferring mechanism. The gripping mechanism and the lifting and transferring mechanism are respectively disposed on both sides of the AGV vehicle body. The gripping mechanism includes a first vertical slide, a second vertical slide, and a first gripping component. The first vertical slide is disposed on the AGV vehicle body, the second vertical slide is disposed on the first vertical slide, and the first gripping component is disposed on the second vertical slide.

[0005] In one embodiment, the second vertical slide is located on the side of the first vertical slide closer to the center of the AGV body, and the first gripping component is located on the side of the second vertical slide closer to the center of the AGV body.

[0006] In one embodiment, the first vertical slide is provided with a first driver, the first driver is provided with a first driving end, and the first driving end drives the second vertical slide to perform linear reciprocating motion in the vertical direction on the first vertical slide.

[0007] In one embodiment, the first driving end is provided with a first transmission rod, the first transmission rod is provided with a first slider, and the first driving end drives the first transmission rod to rotate, thereby causing the first slider to perform linear reciprocating motion in the vertical direction on the first transmission rod.

[0008] In one embodiment, the second vertical slide is provided with a second driver and a second slider. The second driver is provided with a second driving end and a second transmission rod. The second driving end drives the second transmission rod to rotate, thereby causing the second slider to perform linear reciprocating motion along the vertical direction of the second transmission rod.

[0009] In one embodiment, the first gripping component includes a first arm, a second arm, a third arm, and a first gripper, with one end of the first arm disposed on the second slider, and the first arm, the second arm, the third arm, and the first gripper connected in sequence.

[0010] In one embodiment, the second slider is provided with a third driver that drives the first arm to rotate, a fourth driver is provided at the end of the first arm away from the second slider that drives the second arm to rotate, and a fifth driver is provided at the end of the second arm away from the first arm that drives the third arm to rotate.

[0011] In one embodiment, a fixing block is provided at the end of the third arm away from the second arm, the fixing block is provided with a first barcode scanning terminal, and the first gripper is also provided on the fixing block.

[0012] In one embodiment, the AGV vehicle body is equipped with a lidar and a ranging sensor, both of which are located on the side of the AGV vehicle body. The first vertical slide is equipped with a controller, and the ranging sensor and the lidar are respectively connected to the controller.

[0013] In one embodiment, the lifting and transferring mechanism includes a base, a transfer tray, a feeding frame, a transverse slide, a support assembly, and a second gripping assembly. The base is disposed on the AGV vehicle body. The transfer tray, the feeding frame, and the support assembly are all disposed on the base. The transverse slide is vertically disposed on the support assembly. The second gripping assembly performs linear reciprocating motion on the transverse slide to grip and transfer the workpiece in the feeding frame to the transfer tray.

[0014] The aforementioned automated loading and unloading equipment with AGV functionality includes an AGV vehicle body, a gripping mechanism, and a lifting and transferring mechanism. The gripping mechanism and the lifting and transferring mechanism are respectively located on both sides of the AGV vehicle body. The gripping mechanism includes a first vertical slide, a second vertical slide, and a first gripping component. The first vertical slide is mounted on the AGV vehicle body, the second vertical slide is mounted on the first vertical slide, and the first gripping component is mounted on the second vertical slide. By mounting the first vertical slide on the AGV vehicle body, the second vertical slide on the first vertical slide, and the first gripping component on the second vertical slide, the second vertical slide and the first gripping component can slide relative to each other, reducing the sliding stroke of the first gripping component. When movement is required, the second vertical slide can be slid to a lower position, effectively preventing the first and second vertical slides from tipping over when the AGV vehicle body moves. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of an automatic loading and unloading device with AGV function according to one embodiment; Figure 2 This is a schematic diagram of the gripping mechanism of an automatic loading and unloading device with AGV functionality, according to one embodiment. Figure 3 Another schematic diagram of the gripping mechanism of an automated loading and unloading device with AGV functionality, as shown in one embodiment; Figure 4 This is a schematic diagram of the lifting and transferring mechanism of an automatic loading and unloading device with AGV function, according to one embodiment. Figure 5 This is a schematic diagram of the structure of the second gripping component of an automated loading and unloading device with AGV functionality according to one embodiment. Figure 6 This is a schematic diagram of the structure of the second gripper of an automatic loading and unloading device with AGV function in one embodiment. Detailed Implementation

[0016] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0017] like Figure 1As shown, an automated loading and unloading device with AGV functionality includes an AGV body 10, a gripping mechanism 20, and a lifting and transferring mechanism 30. The gripping mechanism 20 and the lifting and transferring mechanism 30 are respectively disposed on both sides of the AGV body 10. The gripping mechanism 20 includes a first vertical slide 210, a second vertical slide 220, and a first gripping component 230. The first vertical slide 210 is disposed on the AGV body 10, the second vertical slide 220 is disposed on the first vertical slide 210, and the first gripping component 230 is disposed on the second vertical slide 220. For example, the gripping mechanism 20 and the lifting and transferring mechanism 30 are respectively disposed on both sides of the AGV body 10, which helps to center the overall weight of the device and increases the stability of the first vertical slide 210 and the second vertical slide 220 during movement. The gripping mechanism 20 and the lifting and transferring mechanism 30 are driven by different drives and operate independently of each other. The gripping mechanism 20 is used to pick up materials, and the lifting and transferring mechanism 30 is used for assembly or inspection. They can operate in parallel, reducing waiting time.

[0018] In one embodiment, the second vertical slide 220 is located on the side of the first vertical slide 210 near the center of the AGV body 10, and the first gripping component 230 is located on the side of the second vertical slide 220 near the center of the AGV body 10. For example, the side of the second vertical slide 220 near the center of the first vertical slide 210 facing inwards from the AGV body 10 is the side facing inwards from the AGV body 10. Similarly, the side of the second vertical slide 220 near the center of the second vertical slide 220 also faces inwards from the AGV body 10. By placing the second vertical slide 220 on the side of the first vertical slide 210 near the center of the AGV body 10, and the first gripping component 230 on the side of the second vertical slide 220 near the center of the AGV body 10, it helps to shift the center of gravity of the entire device closer to the center of the AGV body 10, thereby enhancing the stability of the first vertical slide 210 and the second vertical slide 220.

[0019] In one embodiment, the first vertical slide 210 is provided with a first driver 211, and the first driver 211 is provided with a first drive end 2111. The first drive end 2111 drives the second vertical slide 220 to perform linear reciprocating motion in the vertical direction on the first vertical slide 210. For example, the first driver 211 can be a drive motor or a cylinder. By driving the motor or air, the first drive end 2111 can drive the second vertical slide 220 to perform linear reciprocating motion in the vertical direction on the first vertical slide 210.

[0020] In one embodiment, the first drive end 2111 is provided with a first transmission rod (not shown in the figure), and the first transmission rod is provided with a first slider 2112. The first drive end 2111 drives the first transmission rod to rotate (not shown in the figure), causing the first slider 2112 to perform linear reciprocating motion in the vertical direction on the first transmission rod. For example, when the first driver 211 is a drive motor, the first drive end 2111 is the first drive shaft of the drive motor (not shown in the figure), the first drive shaft is provided with a first gear (not shown in the figure), the first transmission rod is a first ball screw, the first ball screw is provided with a first nut (not shown in the figure), the first slider 2112 is provided on the first nut, and the first ball screw is also provided with a second gear (not shown in the figure) that meshes with the first gear. The rotation of the first drive shaft drives the first gear to rotate, the rotation of the first gear drives the second gear to rotate, the second gear drives the first ball screw to rotate, the rotation of the ball screw drives the first nut to perform linear motion, and then the first nut drives the first slider 2112 to perform linear reciprocating motion. When the first driver 211 is a cylinder, the cylinder is equipped with a piston push rod (not shown in the figure), and the first slider 2112 is mounted on the piston push rod. The cylinder pushes the piston push rod to perform telescopic motion, which in turn drives the first slider 2112 to perform linear reciprocating motion.

[0021] In one embodiment, the second vertical slide 220 is provided with a second driver 221 and a second slider 222. The second driver 221 is provided with a second driving end (not shown in the figure), and the second driving end is provided with a second transmission rod (not shown in the figure). The second driving end drives the second transmission rod to rotate, thereby causing the second slider 222 to perform linear reciprocating motion in the vertical direction along the second transmission rod. Similarly, the second driver 221 can also be configured as a drive motor or a cylinder. When the second driver 221 is a drive motor, the second drive end is also the second drive shaft of the drive motor (not shown in the figure). A third gear (not shown in the figure) is provided on the second drive shaft, the second transmission rod is a second ball screw, and a second nut (not shown in the figure) is provided on the second ball screw. The second slider 222 is provided on the second nut. The second ball screw is also provided with a fourth gear (not shown in the figure) that meshes with the third gear. The rotation of the second drive shaft drives the third gear to rotate, the rotation of the third gear drives the fourth gear to rotate, the fourth gear drives the second ball screw to rotate, and the rotation of the ball screw drives the second nut to move linearly, which in turn drives the second slider 222 to move linearly reciprocatingly. When the second driver 221 is a cylinder, the cylinder is provided with a piston push rod (not shown in the figure), and the second slider 222 is provided on the piston push rod. The cylinder pushes the piston push rod to move in extension and retraction, which in turn drives the second slider 222 to move linearly reciprocatingly.

[0022] like Figures 2-4As shown, in one embodiment, the first gripping component 230 includes a first arm 231, a second arm 232, a third arm 233 and a first gripper 234. One end of the first arm 231 is disposed on the second slider 222, and the first arm 231, the second arm 232, the third arm 233 and the first gripper 234 are connected in sequence. For example, the first gripper 234 is equipped with two mechanical fingers 2341, which are symmetrically arranged. The rear surface of each mechanical finger 2341 has a retracted front end 2342. Through the unique design of the mechanical fingers 2341, they can better adapt to and grip the material tray, avoid tilting and crossing of the material tray, and ensure the smooth operation of automatic loading and unloading. The first arm 231, the second arm 232, and the third arm 233 are each equipped with two corresponding ends. One end of the first arm 231 is set on the second slider 222, and the other end of the first arm 231 is connected to one end of the second arm 232. The other end of the second arm 232 is connected to one end of the third arm 233. The first gripper 234 is set on the other end of the third arm 233. The first arm 231, the second arm 232, and the third arm 233 can rotate relative to each other through a drive, which improves the flexibility of the operation. Additionally, the number of the first boom 231, second boom 232, and third boom 233 can be increased or decreased according to actual needs. When the required clamping distance is long, the number of the first boom 231, second boom 232, and third boom 233 can be increased; when the working distance is short, one of the first boom 231, second boom 232, and third boom 233 can be decreased. The first boom 231, second boom 232, and third boom 233 are metal plates with mounting holes at both ends. The mounting holes facilitate the removal of one of the first boom 231, second boom 232, and third boom 233.

[0023] In one embodiment, the second slider 222 is provided with a third driver 2221, which drives the first arm 231 to rotate. The first arm 231 is provided with a fourth driver 2311 at the end away from the second slider 222, which drives the second arm 232 to rotate. The second arm 232 is provided with a fifth driver 2321 at the end away from the first arm 231, which drives the third arm 233 to rotate. For example, the third driver 2221, the fourth driver 2311, and the fifth driver 2321 are also drive motors. The third driver 2221 is equipped with a third drive shaft (not shown in the figure), and one end of the first arm 231 is mounted on the third drive shaft. The third drive shaft drives the first arm 231 to rotate around the third drive shaft. The fourth driver 2311 is equipped with a fourth drive shaft (not shown in the figure), and one end of the second arm 232 is mounted on the fourth drive shaft. The fourth drive shaft drives the second arm 232 to rotate around the fourth drive shaft. Similarly, the fifth driver 2321 is equipped with a fifth drive shaft (not shown in the figure), and the third arm 2321... One end of the third arm 233 is mounted on the fifth drive shaft, which drives the third arm 233 to rotate around the fifth drive shaft. This, in turn, causes the first gripper 234 mounted on the other end of the third arm 233 to rotate. Since the first arm 231, the second arm 232, and the third arm 233 are all driven by independent drive motors, the rotation directions of the first arm 231, the second arm 232, and the third arm 233 can be adjusted according to requirements. At the same time, when the equipment is unstable, the first arm 231, the second arm 232, and the third arm 233 can be adjusted independently to shift the center of gravity towards the center of the AGV vehicle body 10, in order to prevent the equipment from tipping over.

[0024] In one embodiment, a fixing block 2331 is provided at the end of the third arm 233 away from the second arm 232. The fixing block 2331 is equipped with a first barcode scanning terminal 2332, and a first gripper 234 is also mounted on the fixing block 2331. For example, the second arm 232 is equipped with a sixth driver (not shown) to control the rotation of the fixing block 2331. The sixth driver has a sixth drive shaft (not shown), which is a drive motor. The fixing block 2331 is mounted on the sixth drive shaft, which drives the fixing block 2331 to rotate around the sixth drive shaft. The direction of the barcode scanning terminal and the first gripper 234 can be adjusted using the fixing block 2331. The first barcode scanning terminal 2332 is a CCD camera. By setting the CCD camera, it is possible to scan and identify materials on the shelf, and also to identify the distance to the shelf.

[0025] like Figure 1As shown, in one embodiment, the AGV vehicle body 10 is equipped with a lidar 110 and a ranging sensor 120. Both the lidar 110 and the ranging sensor 120 are located on the side of the AGV vehicle body 10. The first vertical slide 210 is equipped with a controller 212. The ranging sensor 120 and the lidar 110 are respectively connected to the controller 212. For example, the AGV body 10 is provided with a top 130, a bottom 140, and a side 150. The first vertical slide 210 and the lifting and transferring mechanism 30 are provided on the top 130 of the AGV body 10. The AGV body 10 is also provided with wheels 160, which are located on the bottom 140 of the AGV body 10. By providing wheels 160, it is convenient to move the AGV body 10. The bottom 140 of the AGV body 10 is also provided with a third barcode scanning terminal 170, which can be set as a CCD camera or a barcode scanner. Three lidar radars 110 are provided, which are respectively set on different sides 150 of the AGV body 10. The lidar radars 110 can also be set with four lidar radars 110 arranged around the side 150 of the AGV body 10. When the AGV body 10 is cuboid, the four lidar radars 110 are set at the four corners of the side 150 of the AGV body 10 to achieve a 360-degree large-range obstacle detection.

[0026] The ranging sensors 120 can also be configured as four, with two ranging sensors 120 positioned on one side 150 of the AGV body 10 and the other two positioned on the corresponding side 150 of the AGV body 10. By setting up four ranging sensors 120, the lateral distance between the AGV body 10 and the sidewalls of the passage and the tooling can be detected in real time, which is used for lateral position correction and close-range collision avoidance, serving as a supplementary sensing to radar.

[0027] The third scanning terminal 170 identifies the ground QR code and places it on the target workstation floor. The AGV vehicle body 10 travels to the vicinity of the workstation, and the first scanning terminal 2332 uses the distance recognition of the CCD camera to complete coordinate calibration, eliminating the cumulative positioning error caused by long-term laser operation and providing a high-precision benchmark for the upper assembly mechanism. The data from the first scanning terminal 2332, the lidar 110, and the ranging sensor 120 are cross-verified to improve the operational reliability of the equipment.

[0028] like Figures 4-6As shown, in one embodiment, the lifting and transferring mechanism 30 includes a base 310, a transfer tray 320, a feeding frame 330, a transverse slide 340, a support assembly 350, and a second gripping assembly 360. The base 310 is disposed on the AGV vehicle body 10. The transfer tray 320, the feeding frame 330, and the support assembly 350 are all disposed on the base 310. The transverse slide 340 is vertically disposed on the support assembly 350. The second gripping assembly 360 performs linear reciprocating motion on the transverse slide 340 to grip and transfer the workpiece in the feeding frame 330 to the transfer tray 320. For example, the transverse slide 340 is provided with a limit plate 341, a seventh actuator 342, a rotating rod 343, a guide rail 344, a third slider 345, a connecting plate 346, and a sliding shaft 347. The limit plate 341 is a cuboid plate. The limit plate 341, the seventh actuator 342, and the guide rail 344 are fixed on the transverse slide 340. The limit plate 341 is provided with a movable groove 3411 and a mounting hole 3412. The seventh actuator 342 is provided with a seventh drive shaft (not shown in the figure). The seventh drive shaft passes through... Through the mounting hole 3412, one end of the rotating rod 343 is rotatably mounted on the end of the seventh drive shaft that passes through the mounting hole 3412. The rotating rod 343 is provided with a sliding groove 3431. One end of the sliding shaft 347 passes through the sliding groove 3431 and is slidably mounted in the movable groove 3411. One end of the connecting plate 346 is located at the end of the sliding shaft 347 away from the movable groove 3411. The third slider 345 is slidably mounted on the guide rail 344, and the third slider 345 is connected to the end of the connecting plate 346 away from the sliding shaft 347.

[0029] The second gripping assembly 360 includes a sliding rod 361, a fourth arm 362, and a second gripper 363. The sliding rod 361 is slidably mounted on the third slider 345, and one end of the sliding rod 361 is connected to the connecting plate 346. The fourth arm 362 is located at the end of the sliding rod 361 away from the connecting plate 346. The second gripper 363 is mounted on the fourth arm 362. The seventh drive shaft is driven to rotate by the seventh driver 342, which in turn drives the rotating rod 343 to rotate, thereby causing the sliding shaft 347 to move back and forth. The sliding shaft 347 drives the connecting plate 346 to move back and forth, which in turn drives the sliding rod 361 to make a vertical linear reciprocating motion, and drives the third slider 345 to make a horizontal linear reciprocating motion. Finally, it drives the second gripper 363 on the fourth arm 362 to make a reciprocating motion. At the same time, the two endpoints of the linear motion of the second gripper 363 are set directly above the rotating tray 320 and the feeding frame 330, so as to facilitate the gripping of the workpiece in the feeding frame 330 and the transfer to the rotating tray 320. Specifically, when feeding material, the end of the rotating rod 343 away from the seventh drive shaft is close to the side of the feeding frame 330, and the rotating rod 343 is in a horizontal state. Correspondingly, the second gripper 363 is also close to the side of the feeding frame 330. When the transfer frame filled with material is placed in the feeding frame 330, the second gripper 363 grabs the material from the transfer frame. When the rotating rod 343 rotates towards the center of the movable groove 3411 in the direction of the transfer plate 320 through the seventh drive 342, the second gripper 363 rises to the highest position. When the rotating rod 343 rotates to one side of the transfer plate 320 and is set horizontally, it drives the second gripper 363 to put the grabbed material into the transfer plate 320.

[0030] The support assembly 350 includes four support rods 351, which are mounted on the base 310. The four support rods 351 guide the AGV body 10 to distribute the force evenly and have strong resistance to eccentric loads. In conjunction with the second vertical slide 220 located on the side of the first vertical slide 210 near the center of the AGV body 10, and the first gripping assembly 230 located on the side of the second vertical slide 220 near the center of the AGV body 10, the stability of the AGV body 10 is further enhanced.

[0031] One of the support rods 351 is equipped with a second barcode scanning terminal 352, which is a CCD camera or barcode scanner. The second barcode scanning terminal 352 is located directly above the material feeding frame 330, facilitating barcode scanning and identification of the materials in the frame. The shape and number of the claws of the second gripper 363 can be set according to the shape of the material to be gripped. The transfer tray 320 has an opening, allowing the two claws of the first gripper 234 to grasp the material through the opening and deliver it to the shelf.

[0032] The aforementioned automated loading and unloading equipment with AGV functionality includes an AGV vehicle body 10, a gripping mechanism 20, and a lifting and transferring mechanism 30. The gripping mechanism 20 and the lifting and transferring mechanism 30 are respectively disposed on both sides of the AGV vehicle body 10. The gripping mechanism 20 includes a first vertical slide 210, a second vertical slide 220, and a first gripping component 230. The first vertical slide 210 is disposed on the AGV vehicle body 10, the second vertical slide 220 is disposed on the first vertical slide 210, and the first gripping component 230 is disposed on the second vertical slide 220. The first vertical slide 210 is mounted on the AGV body 10, the second vertical slide 220 is mounted on the first vertical slide 210, and the first gripping component 230 is mounted on the second vertical slide 220, so that the second vertical slide 220 and the first gripping component 230 can slide relative to each other, reducing the sliding stroke of the first gripping component 230. When movement is required, the second vertical slide 220 can be slid to a lower position, which can effectively prevent the first vertical slide 210 and the second vertical slide 220 from tipping over when the AGV body 10 moves.

[0033] The loading process of the automatic loading and unloading equipment with AGV function provided by this invention is as follows: The operator moves the material-filled transfer rack onto the material loading frame 330. The second barcode scanner 352 scans the material on the top layer of the transfer rack. Then, the seventh driver 342 drives the second gripper 363 to grab the material on the top layer of the transfer rack. The rotation of the seventh driver 342 drives the second gripper 363 to the transfer tray 320, where the material is placed. Then, the first driver 211 drives the second vertical slide to move upward, which in turn drives the first arm 231, the second arm 232, and the third arm 233 to move upward. The third driver 2221, the fourth driver 2311, and the fifth driver 2321 drive their respective first arm 231, second arm 232, and third arm 233, causing the third arm 233 to move the fixed block 2331 toward the transfer tray 320. The fixed block 2331 drives the first gripper 234 to grab the material on the transfer tray 320. The first gripper 234 grabs the material and places it on the shelf, thus completing the entire loading process.

[0034] The unloading process of the automatic loading and unloading equipment with AGV function provided by this invention is as follows: The operator pushes the AGV body 10 to the side of the shelf, places the empty transfer rack on the material loading frame 330, and drives the second vertical slide to move upward through the first driver 211, which in turn drives the first arm 231, the second arm 232, and the third arm 233 to move upward. The third driver 2221, the fourth driver 2311, and the fifth driver 2321 drive the corresponding first arm 231, the second arm 232, and the third arm 233, so that the third arm 233 drives the fixed block 2331 to move towards the shelf, which in turn drives the first gripper 234 and the first barcode scanning terminal 2332 to move towards the shelf. The first barcode scanning terminal 2332 scans the materials on the shelf, and then the first gripper 234 picks up the materials and places them on the empty transfer rack in the material loading frame 330 in sequence until the transfer rack is full, and then it is transported away, thus completing the entire unloading process.

[0035] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0036] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. An automatic loading and unloading device with AGV function, characterized in that, The AGV includes a main body, a gripping mechanism, and a lifting and transferring mechanism. The gripping mechanism and the lifting and transferring mechanism are respectively disposed on both sides of the AGV main body. The gripping mechanism includes a first vertical slide, a second vertical slide, and a first gripping component. The first vertical slide is disposed on the AGV main body, the second vertical slide is disposed on the first vertical slide, and the first gripping component is disposed on the second vertical slide.

2. The automatic loading and unloading equipment with AGV function according to claim 1, characterized in that, The second vertical slide is located on the side of the first vertical slide closer to the center of the AGV body, and the first gripping component is located on the side of the second vertical slide closer to the center of the AGV body.

3. The automatic loading and unloading equipment with AGV function according to claim 1, characterized in that, The first vertical slide is provided with a first driver, and the first driver is provided with a first driving end. The first driving end drives the second vertical slide to perform linear reciprocating motion in the vertical direction on the first vertical slide.

4. The automatic loading and unloading equipment with AGV function according to claim 3, characterized in that, The first driving end is provided with a first transmission rod, and the first transmission rod is provided with a first slider. The first driving end drives the first transmission rod to rotate, causing the first slider to reciprocate linearly along the vertical direction on the first transmission rod.

5. The automatic loading and unloading equipment with AGV function according to claim 1, characterized in that, The second vertical slide is provided with a second driver and a second slider. The second driver is provided with a second driving end and a second transmission rod. The second driving end drives the second transmission rod to rotate, causing the second slider to perform linear reciprocating motion on the second transmission rod in the vertical direction.

6. The automatic loading and unloading equipment with AGV function according to claim 5, characterized in that, The first gripping component includes a first arm, a second arm, a third arm, and a first gripper. One end of the first arm is disposed on the second slider, and the first arm, the second arm, the third arm, and the first gripper are connected in sequence.

7. The automatic loading and unloading equipment with AGV function according to claim 6, characterized in that, The second slider is provided with a third driver, which drives the first arm to rotate. The first arm is provided with a fourth driver at the end away from the second slider, which drives the second arm to rotate. The second arm is provided with a fifth driver at the end away from the first arm, which drives the third arm to rotate.

8. The automatic loading and unloading equipment with AGV function according to claim 7, characterized in that, A fixing block is provided at the end of the third arm away from the second arm. The fixing block is provided with a first barcode scanning terminal, and the first gripper is also provided on the fixing block.

9. The automatic loading and unloading equipment with AGV function according to claim 1, characterized in that, The AGV vehicle body is equipped with a lidar and a ranging sensor. Both the lidar and the ranging sensor are located on the side of the AGV vehicle body. The first vertical slide is equipped with a controller, and the ranging sensor and the lidar are respectively connected to the controller.

10. The automatic loading and unloading equipment with AGV function according to claim 1, characterized in that, The lifting and transferring mechanism includes a base, a transfer tray, a feeding frame, a transverse slide, a support assembly, and a second gripping assembly. The base is mounted on the AGV vehicle body. The transfer tray, the feeding frame, and the support assembly are all mounted on the base. The transverse slide is vertically mounted on the support assembly. The second gripping assembly performs linear reciprocating motion on the transverse slide to grip and transfer the workpiece in the feeding frame to the transfer tray.

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