AGV equipment

Abstract

The utility model relates to AGV equipment. The AGV equipment comprises an AGV body and a bearing device arranged on the AGV body; the bearing device comprises a supporting module and a bearing module; the supporting module comprises a base, a lifting assembly and a shell with openings in the two sides. The shell is connected with the base. A first guide rail is arranged on the inner side of the shell in the height direction, the base is connected with the AGV body, and the lifting assembly is connected with the base; the bearing module is connected with the lifting assembly, the bearing module comprises a plurality of supporting arm assemblies, and the supporting arm assemblies are arranged at intervals in the height direction and are in sliding connection with the first guide rail; the supporting arm assembly extends in the direction away from the AGV body. The supporting arm assembly is arranged, and the lifting assembly is combined to the AGV equipment, so that the equipment structure is simplified, and the occupied area of the equipment is reduced; meanwhile, the carrying efficiency is improved, and the problem that it is difficult to place the bearing disc into a test area located at a high position is solved.

Description

Technical Field

[0001] The present disclosure relates to the field of automated transportation, and in particular to an AGV device. Background Art

[0002] To test the battery, the batteries need to be loaded onto a pallet and transported from the battery production line to the testing machine. Each pallet of batteries is then moved into the testing machine. After the test is completed, the batteries are taken out and moved to the battery warehouse. The entire process requires workers to operate. Even if there are transport vehicles, workers are still required to operate. In order to save floor space, the pallets are usually stacked in height. During transportation, pallets located at high places are more difficult to carry and pose certain safety hazards to the workers. At the same time, the testing machine usually has multiple layers of testing areas set up along the height. When placing the pallet into the testing area, there is also the problem of difficulty in placing the pallet into the testing area located at a high place.

[0003] Chinese patent CN216763377U disclosed on June 17, 2022 a lithium battery clip-type multi-layer conveying docking system, including a layer-changing lifting device, a material transfer device and a material transportation device; the layer-changing lifting device includes a first frame, a layer-changing drive assembly, a first support, a second support, a first synchronous belt conveying assembly, a first jacking assembly and a station lifting assembly; the station lifting assembly includes a second synchronous belt conveying assembly, a second jacking assembly and a positioning plate; the material transfer device includes a second frame, a support partition, a third synchronous belt conveying assembly, a baffle and a third jacking assembly; the material transportation device includes an AGV trolley, a third frame, and a fourth synchronous belt conveying assembly;

[0004] The above patent positions the magazine by means of a station lifting assembly, and the layer-changing driving assembly adjusts the height of the first support, so that the station lifting assembly corresponds to the position of the supporting partition of the material transfer device, and the magazine enters the cache of the material transfer device and then enters the material transportation device in batches, so that multiple magazines are arranged in layers and then transported in batches, thereby improving efficiency;

[0005] However, the above patent still has the following defects:

[0006] The above patent requires the use of a layer-changing lifting device and a material transfer device to transport the magazines one by one to the material transport device. It can be understood that the material transport device needs to use other devices to assist in loading, the equipment occupies a large area and the overall structure is relatively complex;

[0007] At the same time, in the application environment of battery testing, after the material transportation device transports the magazine to the right place, it still needs to use the layer-changing lifting device and the material transfer device to place the material on the testing machine, or directly place the material on the testing machine manually, that is, it still needs to use additional devices or manual labor to unload the material, the operation is cumbersome and the efficiency is low, and there is still the problem of difficulty in placing the tray into the high test area. Utility Model Content

[0008] In order to solve the problems existing in the above-mentioned prior art, the purpose of the present disclosure is to provide an AGV device to solve the problems that the related equipment in the prior art occupies a large area, has a relatively complex structure and has low efficiency.

[0009] An AGV device disclosed in the present disclosure includes an AGV vehicle body and a carrying device arranged on the AGV vehicle body;

[0010] The load-bearing device comprises a supporting module and a bearing module;

[0011] The support module includes a base, a lifting assembly and a shell with openings on both sides, and the shell is connected to the base; a first guide rail is arranged on the inner side of the shell along the height direction, the base is connected to the AGV vehicle body, and the lifting assembly is connected to the base;

[0012] The supporting module is connected to the lifting assembly, and the supporting module includes a plurality of support arm assemblies, which are spaced apart in the height direction and slidably connected to the first guide rail; the support arm assemblies extend in a direction away from the AGV vehicle body.

[0013] Preferably, the AGV equipment also includes a sliding device, which is arranged between the AGV vehicle body and the carrying device, and the base is slidably connected to the AGV vehicle body through the sliding device, and the sliding device is used to make the carrying device slide relative to the AGV vehicle body in the extension direction of the support arm assembly.

[0014] Preferably, the sliding device includes a first motor, a second guide rail, a gear and a rack, the first motor is connected to the base, the gear and the rack are matched, the second guide rail is arranged on the AGV vehicle body, parallel to the support arm assembly; the rack is arranged on the AGV vehicle body, parallel to the support arm assembly; the output end of the first motor is connected to the gear, and the base is slidably connected to the second guide rail.

[0015] Preferably, the sliding device also includes a limit assembly, which includes a photoelectric switch, which is arranged at the bottom of the opening side of the shell, and a light blocking sheet is arranged at the end of the AGV vehicle body corresponding to the photoelectric switch; the limit assembly is used to limit the displacement of the base in the direction of the second guide rail.

[0016] Preferably, the lifting assembly includes a second motor, a screw rod and a screw rod nut, one end of the screw rod is connected to the base, and the other end is connected to the second motor, the screw rod nut is arranged on the screw rod, the support arm assembly located at the top is connected to the screw rod nut, and multiple support arm assemblies are connected by a chain.

[0017] Preferably, the support arm assembly comprises two support arm mechanisms and a connecting piece, the two support arm mechanisms are arranged opposite to each other, the support arm mechanism comprises a support plate, a baffle plate and a guide plate, the baffle plate is formed with a connecting portion at one end close to the connecting piece, the connecting portion is connected to the connecting piece, the support plate is arranged on one side of the bottom of the baffle plate and the two support plates are arranged opposite to each other; the guide plate is connected to the end of the baffle plate away from the connecting piece, and the guide plate extends in a direction away from the support plate;

[0018] A sliding connection portion adapted to the first guide rail is formed at a position of the baffle plate corresponding to the first guide rail, and the sliding connection portion is slidably connected to the first guide rail.

[0019] Preferably, the support arm mechanism further comprises a limit plate, the limit plate is connected to the baffle plate and at least a portion of the limit plate is perpendicular to the support plate.

[0020] Preferably, the carrying device also includes a folding assembly, which is arranged on the chain and between two adjacent support arm assemblies, and includes a first folding bar and a second folding bar, the first folding bar and the second folding bar are connected by a folding structure, the end of the first folding bar away from the folding structure is connected to the chain, and the end of the second folding bar away from the folding structure is connected to the chain; the folding mechanism is used to drive the chain to fold in a direction away from the support arm assembly.

[0021] Preferably, a door structure rotatably connected to the shell is disposed at one end of the shell, and a control panel is disposed on the door structure.

[0022] Preferably, the shell and the base are made of profiles.

[0023] The advantages of the AGV device disclosed in the present invention are:

[0024] The lifting assembly is combined with the AGV equipment, and the lifting assembly is connected to the supporting arm assembly. The lifting assembly drives the supporting arm assembly to rise and fall, and there is no need to set up additional layer-changing lifting devices and material transfer devices, which simplifies the equipment structure and reduces the equipment footprint;

[0025] At the same time, since the AGV equipment is provided with a plurality of arm assemblies along the height direction and the AGV equipment can realize the lifting function, the plurality of arm assemblies can adapt to the stacking placement of the trays in the application environment of battery testing and adapt to the structure of the testing machine, thereby improving the efficiency of transportation and solving the problem of difficulty in placing the trays in the test area located at a high place. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of an AGV device described in the present disclosure;

[0027] Figure 2 is a schematic structural diagram of the carrying device;

[0028] Figure 3 yes Figure 2 A front view of

[0029] Figure 4 yes Figure 2 The enlarged schematic diagram of point A in the middle;

[0030] Figure 5 is a schematic diagram of the folding component when it is unfolded;

[0031] Figure 6 is a schematic diagram of the folding component when folded.

[0032] Explanation of the accompanying drawings: 1-AGV vehicle body, 2-carrying device, 21-base, 22-lifting assembly, 221-second motor, 222-screw rod, 23-shell, 231-door structure, 24-chain, 25-folding assembly, 251-first folding strip, 252-second folding strip, 253-folding structure, 3-support arm assembly, 31-support arm mechanism, 311-support plate, 312-baffle, 3121-connecting part, 313-guide plate, 32-connecting piece, 33-limiting plate. DETAILED DESCRIPTION

[0033] like Figure 1 and Figure 2 As shown, an AGV device disclosed in the present invention includes an AGV vehicle body 1 and a carrying device 2 arranged on the AGV vehicle body 1;

[0034] The carrying device 2 includes a supporting module and a bearing module;

[0035] The support module includes a base 21, a lifting assembly 22 and a shell 23 with openings on both sides, wherein the shell 23 is connected to the base 21; a first guide rail is provided on the inner side of the shell 23 along the height direction, the base 21 is connected to the AGV vehicle body 1, and the lifting assembly 22 is connected to the base 21;

[0036] The supporting module is connected to the lifting assembly 22, and includes a plurality of arm assemblies 3, which are arranged at intervals in the height direction and are slidably connected to the first guide rail; the arm assemblies 3 extend in a direction away from the AGV vehicle body 1. The lifting assembly 22 is connected to the supporting module, that is, the lifting assembly 22 is connected to the arm assemblies 3, so as to drive the arm assemblies 3 to slide in the direction of the first guide rail, thereby achieving lifting.

[0037] Since the AGV equipment is provided with a plurality of arm assemblies 3 along the height direction, and the lifting assembly 22 is connected to the arm assemblies 3, the lifting assembly 22 drives the arm assemblies 3 to rise and fall, so that the plurality of arm assemblies 3 can adapt to the stacking of trays in the application environment of battery testing and the structure of the testing machine, thereby improving the efficiency of transportation and solving the problem of difficulty in placing the trays in the testing area located at a high place.

[0038] At the same time, since the AGV vehicle body 1 itself can achieve 360° displacement, it is only necessary to ensure that the arm assembly 3 extends in the direction away from the AGV vehicle body 1 so that the arm assembly 3 can support the tray without contacting the AGV vehicle body 1 with the test machine or production line, thereby avoiding collision between the AGV vehicle body 1 and the hardware in the test machine or production line. Preferably, the arm assembly 3 extends in the direction away from the AGV vehicle body 1 and is perpendicular to one side of the AGV vehicle body 1, and is designed perpendicular to the AGV vehicle body 1. Compared with other situations, the AGV vehicle body 1 and the arm assembly 3 are perpendicular, which saves the space occupied by a single AGV device and can avoid difficulty in passing through narrow sections during the movement of the AGV device.

[0039] Furthermore, the AGV vehicle body 1 can achieve various angles of movement, but when carrying the pallet, the arm assembly 3 may be slightly short. When the AGV vehicle body 1 contacts the test machine, the arm assembly 3 cannot be fully docked with the pallet, which makes the transportation process more dangerous.

[0040] Therefore, a sliding device is added, and the sliding device is arranged between the AGV vehicle body 1 and the carrying device 2. The base 21 is slidably connected with the AGV vehicle body 1 through the sliding device so that the carrying device 2 slides relative to the AGV vehicle body 1 in the extension direction of the support arm assembly 3;

[0041] The sliding device enables the base 21 to slide relative to the AGV vehicle body 1, and the sliding direction is along the extension direction of the support arm assembly 3. When the support arm assembly 3 is slightly short, the support arm assembly 3 can be completely docked with the support tray through the sliding device to ensure safety during transportation;

[0042] Moreover, due to the setting of the sliding device, the entire AGV equipment can be designed to move along a certain route. When it is in a predetermined position, the base 21 is slid by the sliding device, and then the arm assembly 3 moves relative to the AGV vehicle body 1 to achieve complete docking between the arm assembly 3 and the supporting tray. After the docking is completed, the arm assembly 3 is lifted by the lifting assembly 22 to support the supporting tray.

[0043] Furthermore, the sliding device includes a first motor, a second guide rail, a gear and a rack. The first motor is connected to the base 21, the gear and the rack are adapted to each other, the second guide rail is arranged on the AGV vehicle body 1, parallel to the arm assembly 3; the rack is arranged on the AGV vehicle body 1, parallel to the arm assembly 3; the output end of the first motor is connected to the gear, and the base 21 is slidably connected to the second guide rail.

[0044] Specifically, the output end of the first motor is connected to the gear, the gear is adapted to the rack, and the rack is arranged on the AGV vehicle body 1 and is parallel to the support arm assembly 3. Since the first motor is connected to the base 21, the first motor drives the gear to rotate, so that the relative position of the gear and the rack changes. Since the setting orientation of the rack is consistent with the setting orientation of the second guide rail, and the base 21 is slidably connected to the second guide rail, the relative position of the gear and the rack changes, so that the base 21 slides relative to the second guide rail, and the direction in which the base 21 slides along the second guide rail is controlled by the forward and reverse rotation of the first motor. The base 21 is respectively connected to the shell 23 and the lifting assembly 22, and the lifting assembly 22 is connected to the supporting module. When the base 21 slides along the second guide rail, the lifting assembly 22, the shell 23, and the supporting module follow the base 21 to slide, that is, the sliding device drives the bearing device 2 to slide in the direction of the second guide rail.

[0045] Furthermore, in order to prevent the carrying device 2 from detaching from the second guide rail when sliding relative to the second guide rail, the sliding device also includes a limit assembly, which includes a photoelectric switch, which is arranged at the bottom of the opening side of the shell 23, and a light blocking sheet is arranged at the end of the AGV vehicle body 1 on the side corresponding to the photoelectric switch; the limit assembly is used to limit the displacement of the base 21 in the direction of the second guide rail.

[0046] Specifically, the setting of the limit assembly is to limit the displacement of the base 21 in the direction of the second guide rail, thereby preventing the base 21 from leaving the second guide rail. Therefore, a limit assembly is set, and the limit assembly includes a photoelectric switch. The photoelectric switch is a non-contact sensor that uses the photoelectric effect to detect the presence or absence of an object. Since the arm assembly 3 is arranged on both sides of the movement direction of the AGV vehicle body 1, the carrying device 2 needs to slide to both sides of the movement direction of the AGV vehicle body 1, that is, the sliding of the base 21 relative to the second guide rail is a two-way sliding, that is, the base 21 needs to slide to both sides of the movement direction of the AGV vehicle body 1, so it is necessary to limit on both sides of the movement direction of the AGV vehicle body 1, that is, it is necessary to limit at both ends of the second guide rail. Therefore, a photoelectric switch is set at the bottom of one side of the opening of the shell 23, and another photoelectric switch is set at the bottom of the other side of the opening of the shell 23; on the AGV vehicle body 1, light blocking sheets are set at both ends corresponding to the two transmitting ends;

[0047] The light shielding sheet is set at a position where the base 21 is expected to stop moving according to actual conditions. The photoelectric switch is connected to the first motor through a controller signal. The controller can be a conventional PLC or other control device. The photoelectric switch is connected to the controller signal, and the controller is connected to the first motor signal.

[0048] When the base 21 slides along the second guide rail until the light blocking sheet blocks the photoelectric switch, the receiving end of the photoelectric switch cannot receive the light emitted by the transmitting end, and then determines that the base 21 has moved to the pre-set limited position, and then sends a signal to the controller. After receiving the signal sent by the photoelectric switch, the controller sends a signal to stop the first motor.

[0049] There is an electrical connection between the transmitting end and the receiving end of the photoelectric switch. Taking the photoelectric switch model YINGB EE-SX670-WR produced by Omron as an example, its connection method is a wire lead-out type, that is, there is a wire of a certain length between the transmitting end and the receiving end. At the same time, the photoelectric switch itself also needs to be electrically connected to the outside world. In order to prevent the wire from being torn off when the carrying device 2 slides back and forth, a drag chain structure is set. The drag chain structure includes two drag chains, one drag chain is set on one side, and the other drag chain is set on the other side. One end of the drag chain is connected to the bottom of the base 21 or the shell 23, and the other end is connected to the AGV vehicle body 1. The position for connecting to the AGV vehicle body 1 can be the side end of the AGV vehicle body 1, or it can be on the top surface or bottom surface of the AGV vehicle body 1, which can be selected according to actual conditions.

[0050] The design of the drag chain allows it to bend flexibly during the reciprocating motion of the carrying device 2, while providing protection for the wires of the photoelectric switch, reducing wear and extending its service life.

[0051] Further, such as Figure 3 As shown, the lifting assembly 22 includes a second motor 221, a screw rod 222 and a screw nut, the support arm assembly 3 located at the top is connected to the screw nut, the screw nut is connected to the screw rod 222, one end of the screw rod 222 is connected to the base 21, and the other end is connected to the second motor 221. Specifically, the connection between the screw rod 222 and the second motor 221 can be connected through a conventional gear transmission mechanism, that is, a gear transmission mechanism is provided between the screw rod 222 and the output shaft of the second motor 221, including a driving wheel and a driven wheel, the driving wheel is connected to the output shaft of the second motor 221, the driven wheel meshes with the driving wheel and is connected to the screw rod 222, when the second motor 221 is started, it drives the driving wheel to rotate, the driving wheel drives the driven wheel to rotate and then drives the screw rod 222 to rotate, and finally the support arm assembly 3 connected to the screw nut rises or falls;

[0052] Furthermore, in order to ensure that multiple arm assemblies 3 can be raised or lowered, each arm assembly 3 is connected by a chain 24, one end of the chain 24 is connected to the arm assembly 3 located at the top, and the other end is connected to the base 21. The overall length of the chain 24 is adapted according to the spacing between two adjacent arm assemblies 3 and the number of arm assemblies 3 on one side of the AGV body. For example, the number of arm assemblies 3 on one side of the AGV body is 8, and the spacing requirement between two adjacent arm assemblies 3 is 40 cm. The total length of the chain 24 can be set to 300 cm, and the length of the chain 24 is set with a margin to ensure that the spacing between two adjacent arm assemblies 3 meets the requirement of 40 cm.

[0053] When the lifting assembly 22 drives the arm assembly 3 at the top to rise or fall, the other arm assemblies 3 are also driven by the chain 24 to rise or fall.

[0054] Further, such as Figure 4 As shown, the arm assembly 3 includes two arm mechanisms 31 and a connecting member 32. The two arm mechanisms 31 are arranged opposite to each other, and the two arm mechanisms 31 are connected to the ears or edges of the tray, so that when the tray is away from the platform carrying it, the arm mechanism 31 replaces the platform to carry the tray. The arm mechanism 31 includes a support plate 311, a baffle 312 and a guide plate 313. A connecting portion 3121 is formed at one end of the baffle 312 close to the connecting member 32, and the connecting portion 3121 is connected to the connecting member 32. The support plate 311 is arranged on one side of the bottom of the baffle 312 and the two support plates 311 are arranged opposite to each other; a guide plate 313 is connected to the end of the baffle 312 away from the connecting member 32; the guide plate 313 extends in a direction away from the support plate 311;

[0055] A sliding connection portion adapted to the first guide rail is formed at a position of the baffle 312 corresponding to the first guide rail, and the sliding connection portion is slidably connected to the first guide rail.

[0056] Specifically, a sliding connection part adapted to the first guide rail is formed at the portion of the baffle 312 corresponding to the first guide rail, that is, on the outside of the baffle 312. The sliding connection part is designed accordingly according to the specific structure of the first guide rail. For example, if the cross section of the first guide rail is "T"-shaped, the sliding connection part is set as a groove adapted to the first guide rail, and the cross section of the internal space of the groove is inverted "T" shape, which is adapted to the first guide rail.

[0057] In the support arm mechanism 31, the support plate 311 is preferably kept parallel to the ground, because the function of the support plate 311 is to support the supporting tray, and the ears or outer edges of the supporting tray are usually parallel to the ground. When the support plate 311 is kept parallel to the ground, the support plate 311 can be fully adapted when docking with the ears or outer edges of the supporting tray, thereby avoiding the supporting tray and the support plate 311 only partially contacting, which causes the pressure on the support plate 311 to increase, affecting the service life of the support plate 311.

[0058] The baffle 312 can be a straight plate made of conventional profiles. The angle formed by the connection between the baffle 312 and the support plate 311 is preferably 90°. A connecting portion 3121 is formed at one end of the baffle 312 close to the connecting plate 321 and extends along the direction of the connecting plate 321, and is connected by conventional bolts and nuts.

[0059] At the same time, since the support arm assembly 3 needs to hold the battery tray to move upward in some cases, the entire movement process can be roughly described as follows: the support arm assembly 3 moves upward and first contacts the battery tray, and then continues to move upward. Since the support arm assembly 3 has already contacted the battery tray, continuing to move upward can drive the battery tray to move upward;

[0060] In the above process, the arm assembly 3 may fail to fully align with the battery tray, which may affect the supporting effect and even cause the battery tray to tilt, causing the batteries to scatter. In order to avoid this, a guide plate 313 is connected to the end of the baffle 312 away from the connector 32, and the guide plate 313 extends away from the tray 311, that is, the guide plate 313 and the baffle 312 are inclined at a certain angle; specifically, the guide plate 313 is inclined outward to guide the movement of the battery tray toward the tray 311. In the process of the arm assembly 3 moving upward, if the battery tray and the tray 311 are not fully aligned, the arm assembly 3 moves upward, and the ear or outer edge of the battery tray will first contact the guide plate 313. In the process of continuing to move upward, the battery tray is guided by the guide plate 313 and aligned with the tray 311, thereby ensuring the supporting effect of the arm assembly 3.

[0061] Further, such as Figure 4As shown, in order to ensure that the supporting tray supported by each supporting arm assembly 3 is completely docked, the supporting arm mechanism 31 also includes a limiting plate 33, the limiting plate 33 is connected to the baffle 312, and at least part of the limiting plate 33 is perpendicular to the supporting plate 311; when the AGV vehicle body 1 travels until the supporting arm assembly 3 and the supporting tray are completely docked, or the sliding device moves the base 21 relative to the AGV vehicle body 1 until the supporting arm assembly 3 and the supporting tray are completely docked, the supporting tray and the limiting plate 33 just abut against each other;

[0062] At the same time, a distance sensor can be set on the side of the limit plate 33 away from the connecting piece 32, and the distance sensor can be connected to the sliding device or the AGV vehicle body 1 signal. When the edge of the support tray abuts against the limit plate 33, the distance sensor transmits a signal to the sliding device or the AGV vehicle body 1, so that the sliding device or the AGV vehicle body 1 stops running, so that the arm assembly 3 can better complete the docking with the support tray, and can ensure that the arm assembly 3 and the support tray are completely docked.

[0063] Furthermore, with the cooperation of the above structure, the AGV equipment described in the present application can quickly and efficiently transfer the stacked trays to the inspection machine, and the arrangement of the chain 24 can drive multiple arm assemblies 3 to rise or fall at the same time; however, during the descent process, since the distance between two adjacent arm assemblies 3 gradually decreases, the chain 24 will bend and fold. If the chain 24 bends and folds in the direction close to the arm assembly 3, the distance between the two adjacent arm assemblies 3 will not be able to reach the minimum value, thereby affecting the use of the AGV equipment. Therefore, if Figure 5 and Figure 6 As shown, the supporting device 2 also includes a folding component 25, which is arranged on the chain 24 between two adjacent arm components 3. The folding component 25 includes a first folding strip 251 and a second folding strip 252. The first folding strip 251 and the second folding strip 252 are connected by a folding structure 253. The end of the first folding strip 251 away from the folding structure 253 is connected to the chain 24, and the end of the second folding strip 252 away from the folding structure 253 is connected to the chain 24. The folding mechanism is used to drive the chain 24 to fold in a direction away from the arm component 3.

[0064] The connection method between the first folding bar 251, the second folding bar 252 and the chain 24 can be a fixed connection or a rotating connection. If it is a rotating connection, a rotating connecting piece needs to be set. The first folding bar 251 is rotatably connected to the chain 24 through the rotating connecting piece, and the rotating connecting piece is connected to the support arm assembly 3 through bolts and nuts. When the chain 24 is folded, the first folding bar 251 and the second folding bar 252 guide the chain 24 to fold away from the support arm assembly 3 through the folding structure 253, so as to avoid the folding of the chain 24 interfering with the movement of the support arm assembly 3.

[0065] Folding structure 253 Figure 5 , Figure 6 As shown, an elongated arc hole is formed at one end of the second folding strip 252 close to the first folding strip 251, and a column adapted to the elongated arc hole is formed at one end of the first folding strip 251 close to the second folding strip 252, and the column slides along the channel of the elongated arc hole to realize the folding of the first folding strip 251 and the second folding strip 252; the above-mentioned arrangement can make the movement of the folding component 25 smooth; and due to the arrangement of the elongated arc hole, the movement process of the first folding strip 251 and the second folding strip 252 during folding is naturally folded in the direction away from the support arm component 3, thereby guiding the chain 24 to fold in the direction away from the support arm component 3.

[0066] Furthermore, one end of the housing 23 is provided with a door structure 231 rotatably connected to the housing 23, and a control panel is provided on the door structure 231;

[0067] Specifically, if Figure 1 to Figure 3 As shown, the door structure 231 is arranged at the upper part of one end of the shell 23 and is rotatably connected to the shell 23. Preferably, a hinge structure is used for the rotatable connection. A control panel is provided on the door structure 231, and the staff can set the operation of the AGV equipment through the control panel. The shell 23 has a space for placing circuit components at a position corresponding to the door structure 231. The circuit components are electrically connected to the control panel and to the first motor, the second motor 221, etc. The staff can control the ACV equipment and set the operation of the AGV equipment through the control panel.

[0068] Furthermore, the shell 23 and the base 21 are made of profiles, preferably aluminum profiles, which are lighter and less expensive, and can reduce the weight of the carrying device 2, thereby reducing the overall weight of the AGV equipment and reducing the energy consumption of the AGV vehicle body 1.

[0069] In the description of the present disclosure, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the referred device or element must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present disclosure.

[0070] For those skilled in the art, various other corresponding changes and deformations can be made according to the technical solutions and concepts described above, and all of these changes and deformations should fall within the protection scope of the claims of the present disclosure.

Claims

1. An AGV device, characterized in that: It comprises an AGV vehicle body (1) and a carrying device (2) arranged on the AGV vehicle body (1); The carrying device (2) comprises a supporting module and a bearing module; The support module comprises a base (21), a lifting assembly (22) and a shell (23) with openings on both sides, wherein the shell (23) is connected to the base (21); a first guide rail is arranged on the inner side of the shell (23) along the height direction, the base (21) is connected to the AGV vehicle body (1), and the lifting assembly (22) is connected to the base (21); The supporting module is connected to the lifting assembly (22), and the supporting module includes a plurality of support arm assemblies (3). The plurality of support arm assemblies (3) are arranged at intervals in the height direction and are slidably connected to the first guide rail; the support arm assemblies (3) extend in a direction away from the AGV vehicle body (1).

2. The AGV device according to claim 1, characterized in that: It also includes a sliding device, which is arranged between the AGV vehicle body (1) and the carrying device (2), and the base (21) is slidably connected to the AGV vehicle body (1) through the sliding device, and the sliding device is used to make the carrying device (2) slide relative to the AGV vehicle body (1) in the extension direction of the support arm assembly (3).

3. The AGV device according to claim 2, characterized in that: The sliding device comprises a first motor, a second guide rail, a gear and a rack; the first motor is connected to the base (21); the gear and the rack are matched; the second guide rail is arranged on the AGV vehicle body (1) and is parallel to the support arm assembly (3); the rack is arranged on the AGV vehicle body (1) and is parallel to the support arm assembly (3); the output end of the first motor is connected to the gear; the base (21) is slidably connected to the second guide rail.

4. The AGV device according to claim 3, characterized in that: The sliding device also includes a limit assembly, which includes a photoelectric switch, which is arranged at the bottom of one side of the opening of the shell (23), and a light blocking sheet is arranged at the end of the AGV vehicle body (1) on the side corresponding to the photoelectric switch; the limit assembly is used to limit the displacement of the base (21) in the direction of the second guide rail.

5. The AGV equipment according to claim 3, characterized in that: The lifting assembly (22) comprises a second motor (221), a screw rod (222) and a screw rod nut; one end of the screw rod (222) is connected to the base (21), and the other end is connected to the second motor (221); the screw rod nut is arranged on the screw rod (222); the support arm assembly (3) located at the top is connected to the screw rod nut, and a plurality of the support arm assemblies (3) are connected to each other via a chain (24).

6. The AGV device according to claim 5, characterized in that: The support arm assembly (3) comprises two support arm mechanisms (31) and a connecting member (32), the two support arm mechanisms (31) are arranged opposite to each other, the support arm mechanism (31) comprises a support plate (311), a baffle (312) and a guide plate (313), one end of the baffle (312) close to the connecting member (32) is formed with a connecting portion (3121), the connecting portion (3121) is connected to the connecting member (32), the support plate (311) is arranged on one side of the bottom of the baffle (312), and the two support plates (311) are arranged opposite to each other; the guide plate (313) is connected to the end of the baffle (312) away from the connecting member (32), and the guide plate (313) extends in a direction away from the support plate (311); A sliding connection portion adapted to the first guide rail is formed at a position of the baffle (312) corresponding to the first guide rail, and the sliding connection portion is slidably connected to the first guide rail.

7. The AGV equipment according to claim 6, characterized in that: The support arm mechanism (31) further comprises a limiting plate (33), wherein the limiting plate (33) is connected to the baffle plate (312), and at least a portion of the limiting plate (33) is perpendicular to the support plate (311).

8. The AGV equipment according to claim 6, characterized in that: The carrying device (2) also includes a folding assembly (25), which is arranged on the chain (24) and between two adjacent support arm assemblies (3), and includes a first folding bar (251) and a second folding bar (252), wherein the first folding bar (251) and the second folding bar (252) are connected via a folding structure (253), wherein one end of the first folding bar (251) away from the folding structure (253) is connected to the chain (24), and one end of the second folding bar (252) away from the folding structure (253) is connected to the chain (24); and the folding mechanism is used to drive the chain (24) to fold in a direction away from the support arm assembly (3).

9. The AGV device according to claim 1, characterized in that: One end of the shell (23) is provided with a door structure (231) rotatably connected to the shell (23), and a control panel is provided on the door structure (231).

10. The AGV equipment according to claim 1, characterized in that: The shell (23) and the base (21) are made of profiled materials.

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