Transfer AGV equipment for graphite boat

Abstract

The utility model relates to the technical field of logistics equipment, and discloses graphite boat transfer AGV equipment which comprises a chassis, a walking mechanism, a walking stabilizing mechanism, a storage frame and a material taking mechanism. The walking mechanism is used for driving the chassis to move and comprises steering wheels, universal wheels, a steering driving mechanism and a walking driving mechanism. The walking stabilizing mechanism is arranged on the lower surface of the chassis and comprises a swing support and a stabilizing seesaw. The swing support is fixedly arranged on the lower surface of the chassis, the middle of the stable seesaw is rotationally connected with the swing support, the stable seesaw can rotate relative to the swing support in a vertical plane, and steering wheels or universal wheels are arranged at the two ends of the stable seesaw. The storage rack is arranged on the upper surface of the chassis and used for temporarily storing the graphite boat. The material taking mechanism is arranged on the upper surface of the chassis and used for moving the graphite boat into the storage frame or moving the graphite boat out of the storage frame. According to the AGV equipment provided by the embodiment of the utility model, the graphite boat can be automatically carried and circulated, and the damage risk of the graphite boat in the carrying process can be reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics equipment, in particular to an AGV device for transferring a graphite boat. Background Art

[0002] Graphite boats are essential carrying tools in the photovoltaic production process. They use their good thermal conductivity and high chemical stability to heat the silicon material, providing sufficient heat for the silicon material while avoiding reactions with the silicon material. In the production process of single-crystalline silicon, graphite boats usually need to circulate between multiple production lines and equipment. The existing circulation of graphite boats mostly uses manual transportation of graphite boats onto carts, and then uses carts to transport the graphite boats to designated workstations. Due to the relatively fragile strength of graphite, graphite boats are easily damaged during transportation, and the floor of the workshop cannot be absolutely level. The swinging caused by the cart passing through uneven ground can easily cause damage to the graphite boat. Utility Model Content

[0003] In order to overcome the shortcomings of the existing technology, the purpose of the utility model is to provide an AGV device for transferring graphite boats, which can automatically transport the graphite boats to the device and can smoothly pass through the undulations on the ground, reducing the probability of damage to the graphite boats during transportation.

[0004] To solve the above problems, the technical solution adopted by the present invention is as follows: A graphite boat transfer AGV device, comprising: a chassis; a walking mechanism, arranged on the lower surface of the chassis, for driving the chassis to move, comprising a steering wheel, a universal wheel, a steering drive mechanism and a walking drive mechanism, the steering drive mechanism is used to drive the steering wheel to turn in a horizontal plane, and the walking drive mechanism is used to drive the steering wheel to rotate in a vertical plane; a walking stabilization mechanism, arranged on the lower surface of the chassis, comprising a swing support and a stabilizing seesaw, the swing support is fixedly arranged on the lower surface of the chassis, the middle part of the stabilizing seesaw is rotatably connected to the swing support, the stabilizing seesaw can rotate relative to the swing support in a vertical plane, and the two ends of the stabilizing bridge plate are provided with the steering wheel or the universal wheel; a storage rack, arranged on the upper surface of the chassis, for temporarily storing the graphite boat; a material taking mechanism, arranged on the upper surface of the chassis, for moving the graphite boat into or out of the storage rack.

[0005] Compared with the existing technology, the beneficial effect of the present invention is that the graphite boat can be automatically transported to the storage rack for temporary storage through the material taking mechanism, and some steering wheels and universal wheels are arranged on the walking stabilization mechanism composed of a stabilizing seesaw. When the ground passed is not level, the stabilizing seesaw arranged on the swing support will rotate to adapt to the angle of the ground, thereby keeping the wheels in contact with the ground while maintaining the posture of the vehicle body unchanged, maintaining the stability of the vehicle body, and avoiding the vehicle body from swinging when the equipment passes through an area with uneven ground, causing the graphite boat on the equipment to collide with the vehicle body and be damaged.

[0006] The above-mentioned graphite boat transfer AGV equipment, the storage rack includes at least two layers, each layer includes at least two storage positions arranged side by side, the material picking mechanism includes a pair of material supporting assemblies, a pair of bidirectional telescopic platforms and a pair of lifting drive mechanisms, the two material supporting assemblies are used to support the two ends of the graphite boat, the two lifting drive mechanisms are respectively arranged at the two ends of the chassis, the bidirectional telescopic platform is arranged on the lifting drive mechanism on the corresponding side, the bidirectional telescopic platform can reciprocate in the vertical direction under the drive of the lifting drive mechanism, the material supporting assembly is arranged on the bidirectional telescopic platform on the corresponding side, the material supporting assembly can reciprocate in the width direction of the graphite boat under the drive of the bidirectional telescopic platform.

[0007] In the above-mentioned graphite boat transfer AGV equipment, the material-retrieving mechanism also includes an avoidance drive mechanism, and the bidirectional telescopic platform is arranged on the lifting drive mechanism through the avoidance drive mechanism, and the avoidance drive mechanism is used to drive the bidirectional telescopic platform to reciprocate in the length direction of the graphite boat.

[0008] The above-mentioned graphite boat transfer AGV equipment, the bidirectional telescopic platform includes a lifting bracket, a fixed guide frame, a first telescopic drive mechanism, a second telescopic drive mechanism, a first telescopic movable bracket and a second telescopic movable bracket, the lifting bracket is connected to the lifting drive mechanism, the first telescopic drive mechanism and the fixed guide frame are arranged on the lifting bracket, the first telescopic movable bracket is slidably connected to the fixed guide frame, the second telescopic movable bracket is slidably connected to the first telescopic movable bracket, the first telescopic drive mechanism is used to drive the first telescopic movable bracket to reciprocate relative to the fixed guide frame in the width direction of the graphite boat, the second telescopic drive mechanism is arranged on the first telescopic movable bracket, the second telescopic drive mechanism is used to drive the second telescopic movable bracket to reciprocate relative to the first telescopic movable bracket in the width direction of the graphite boat, and the material support assembly is arranged on the second telescopic movable bracket.

[0009] The above-mentioned graphite boat transfer AGV equipment, the first telescopic drive mechanism includes a telescopic drive motor, a drive gear and a drive rack, the telescopic drive motor is arranged on the lifting bracket, the drive rack is arranged on the first telescopic movable bracket along the width direction of the graphite boat, the drive gear is connected to the output shaft of the telescopic drive motor, and the drive gear is engaged with the drive rack.

[0010] The above-mentioned graphite boat transfer AGV equipment, the second telescopic drive mechanism includes two synchronous wheels and a synchronous belt, the two synchronous wheels are arranged at both ends of the first telescopic movable bracket, the two synchronous wheels have the same horizontal height, the synchronous belt is sleeved between the two synchronous wheels, the fixed guide frame is provided with a first synchronous slider, the second telescopic movable bracket is provided with a second synchronous slider, the first synchronous slider is fixedly connected to the synchronous belt located on one side of the upper and lower sides of the rotating shaft of the synchronous wheel, and the second synchronous slider is fixedly connected to the synchronous belt located on the other side of the upper and lower sides of the rotating shaft of the synchronous wheel.

[0011] The above-mentioned graphite boat transfer AGV equipment has two first ranging sensors on the left and right sides of the chassis, and the two first ranging sensors on the same side are arranged at the front and rear ends of the storage rack. The first ranging sensors are used to measure the distance between the two ends of the chassis and the two ends of the graphite boat.

[0012] The above-mentioned graphite boat transfer AGV equipment, the support assembly includes a support block and two second ranging sensors, the upper surface of the support assembly is provided with a bracket matching the bottom shape of the graphite boat, and both ends of the support block are provided with a second ranging sensor, which is used to measure the distance between the two sides of the bottom of the graphite boat and the two ends of the support block.

[0013] The above-mentioned graphite boat transfer AGV equipment has a navigation radar installed on the chassis and an obstacle avoidance radar installed on the side of the chassis.

[0014] In the above-mentioned graphite boat transfer AGV equipment, the material supporting assembly is arranged on the second telescopic movable bracket through a material supporting fine-tuning mechanism, and the material supporting fine-tuning mechanism is used to drive the material supporting assembly to reciprocate relative to the second telescopic movable bracket in the width direction of the graphite boat.

[0015] The present invention will be described in further detail below with reference to the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the three-dimensional structure of the AGV equipment according to an embodiment of the present utility model;

[0017] Figure 2A bottom view of the AGV device according to an embodiment of the present invention;

[0018] Figure 3 This is a top view of the AGV device without the shell according to an embodiment of the present utility model;

[0019] Figure 4 This is a rear view of the AGV device without the shell according to an embodiment of the present invention;

[0020] Figure 5 This is a schematic structural diagram of a bidirectional telescopic platform according to an embodiment of the present utility model;

[0021] Figure 6 This is a structural diagram of the telescopic drive mechanism of an embodiment of the present utility model.

[0022] Description of Figure Numbers:

[0023] 100 chassis, 110 anti-collision strip, 120 obstacle avoidance radar, 130 first distance measuring sensor, 200 walking mechanism, 210 steering wheel, 211 steering drive mechanism, 2111 driven steering gear, 2112 active steering gear, 2113 steering motor, 212 walking drive mechanism, 220 universal wheel, 300 walking stabilization mechanism, 310 stabilizing rocker, 320 swing support, 400 upper frame, 410 navigation radar, 420 control button, 430 touch screen, 500 storage rack, 510 storage pad, 520 storage suspension, 600 material retrieving mechanism, 610 support assembly, 611 support block, 6111 support fine-tuning mechanism, 612 second distance measuring sensor, 6 20 Bidirectional telescopic platform, 621 fixed guide frame, 6211 guide groove, 622 first telescopic movable bracket, 6221 guide wheel, 623 second telescopic movable bracket, 624 first telescopic drive mechanism, 6241 telescopic drive motor, 6242 drive gear, 6243 drive rack, 625 second telescopic drive mechanism, 6251 synchronous wheel, 6252 synchronous belt, 6253 first synchronous slider, 6254 second synchronous slider, 626 lifting bracket, 6261 avoidance movable bracket, 630 lifting drive mechanism, 631 lifting screw pair, 632 lifting motor, 633 lifting guide rail, 640 avoidance drive mechanism, 641 avoidance guide rail, 642 avoidance electric cylinder. DETAILED DESCRIPTION

[0024] The embodiments of the present invention are described in detail below. Figures 1 to 3An embodiment of the present invention provides an AGV transport device for graphite boats, comprising a chassis 100, a traveling mechanism 200, a traveling stabilization mechanism 300, a storage rack 500, and a material retrieving mechanism 600. The traveling mechanism 200 is disposed on the lower surface of the chassis 100 and is used to drive the chassis 100 to move. The traveling mechanism 200 comprises a steering wheel 210, a universal wheel 220, a steering drive mechanism 211, and a traveling drive mechanism 212. The steering drive mechanism 211 is used to drive the steering wheel 210 to steer in a horizontal plane, thereby driving the chassis 100 to steer. The traveling drive mechanism 212 is used to drive the steering wheel 210 to rotate in a vertical plane, thereby providing power for the chassis 100 to move on the ground. The travel stabilization mechanism 300 is located on the lower surface of the chassis 100 and includes a swing support 320 and a stabilizing seesaw 310. The swing support 320 is fixed to the lower surface of the chassis 100. The stabilizing seesaw 310 is rotatably connected to the swing support 320 in the middle, allowing it to rotate in a vertical plane with the swing support 320 as the fulcrum. Steering wheels 210 or universal wheels 220 are provided at both ends of the stabilizing seesaw 310. A storage rack 500 and a retrieving mechanism 600 are located on the upper surface of the chassis 100. The storage rack 500 is used to temporarily store graphite boats, while the retrieving mechanism 600 is used to move graphite boats into or out of the storage rack 500.

[0025] The AGV device of the embodiment of the present invention can automatically move the graphite boat on the production line to the storage rack 500 through the material picking mechanism 600, or move the graphite boat on the storage rack 500 to the production line, thereby preventing damage to the graphite boat due to human error when manually transporting the graphite boat. At the same time, because some steering wheels 210 or universal wheels 220 are set on the ground of the chassis 100 through the walking stabilization mechanism 300, when the device moves to a non-parallel area, the stabilizing seesaw 310 will rotate to adapt to the angle of the ground under the action of gravity, thereby continuing to remain parallel to the non-parallel ground, so that the steering wheels 210 or universal wheels 220 at both ends of the stabilizing seesaw 310 continue to maintain contact with the ground, thereby preventing the device body from swinging, and further preventing the graphite boat on the device from colliding with the body and causing damage to the graphite boat. The AGV device of the embodiment of the present invention can improve the circulation efficiency of the graphite boat and reduce the probability of damage to the graphite boat during circulation.

[0026] Reference Figure 1In some embodiments, the storage rack 500 includes at least two levels, each level containing at least two side-by-side graphite boat storage locations. This increases the number of graphite boats that can be loaded by the AGV and improves the efficiency of graphite boat turnover. Accordingly, the retrieving mechanism 600 includes a pair of support assemblies 610, a pair of bidirectional telescopic platforms 620, and a pair of lifting mechanisms 630. The two support assemblies 610 are used to support the ends of the graphite boat. The two lifting mechanisms are located at either end of the chassis 100, with the bidirectional telescopic platforms 620 mounted on the lifting mechanisms 630 on the corresponding sides. The support assemblies 610 are also mounted on the bidirectional telescopic platforms 620 on the corresponding sides. Driven by the bidirectional telescopic platforms 620, the support assemblies 610 can extend to the left and right sides of the chassis 100 to facilitate access to graphite boats stored in the storage locations on either side. Driven by the lifting mechanisms 630, the bidirectional telescopic platforms 620 can also be raised and lowered vertically to facilitate access to graphite boats stored on different levels of the storage rack 500.

[0027] Reference Figure 1 In this embodiment, an upper frame 400 is provided on the chassis 100, and a material retrieving mechanism 600 is disposed at the front and rear ends of the upper frame 400. The storage rack 500 comprises two layers, each layer comprising two storage locations, each location comprising four storage blocks 510. The four storage blocks 510 are divided into two groups, one at each end of a storage location. A diffuse reflection sensor is disposed between two storage blocks 510 in each group of storage blocks 510 to detect whether a graphite boat is stored in a storage location. The first layer of the storage rack 500 is directly disposed on the upper surface of the chassis 100, and the second layer is disposed on a storage suspension 520 suspended from the top of the upper frame 400.

[0028] Reference Figure 1 and Figure 4 In this embodiment, the lifting drive mechanism 630 includes a lifting screw pair 631, a lifting motor 632 and a lifting guide rail 633. The two lifting guide rails 633 are vertically arranged on the left and right sides of the front and rear ends of the upper frame 400, respectively. The lifting guide rail 633 is vertically arranged between the two lifting guide rails 633. The corresponding lifting bracket 626 of the bidirectional telescopic platform 620 is connected to the slider on the lifting guide rail 633, and is connected to the screw nut of the lifting screw pair 631. The lifting motor 632 is connected to the screw of the lifting screw pair 631 through a reducer.

[0029] Reference Figure 5 and Figure 6In some embodiments, the bidirectional telescopic platform 620 further includes a fixed guide frame 621, a first telescopic drive mechanism 624, a second telescopic drive mechanism 625, a first telescopic movable support 622, and a second telescopic movable support 623. The first telescopic drive mechanism 624 and the fixed guide frame 621 are mounted on a lifting support 626. The first telescopic movable support 622 is slidably connected to the fixed guide frame 621, and the second telescopic movable support 623 is slidably connected to the first telescopic movable support 622. The first telescopic drive mechanism 624 is configured to drive the first telescopic interactive support to reciprocate relative to the fixed guide frame 621 in the width direction of the graphite boat. The second telescopic drive mechanism 625 is configured to be mounted on the first telescopic movable support 622 and to drive the second telescopic movable support 623 to reciprocate relative to the first telescopic movable support 622 in the width direction of the graphite boat. It can be understood that the length of the fixed guide frame 621 should be slightly narrower than the width of the upper frame 400, and the width of the first telescopic movable bracket 622 and the second telescopic movable bracket 623 should be basically the same as the length of the fixed guide frame 621, so that the two-way telescopic platform 620 can be extended as long as possible and can be completely retracted into the upper frame 400 when retracted, so as to avoid interference with the movement of the AGV equipment.

[0030] Reference Figures 3 to 6 The fixed guide frame 621 is provided with a slide groove across its width, through which the first telescopic movable bracket 622 passes. Two guide grooves 6211 are provided on the front and rear walls of the slide groove, respectively. The guide grooves 6211 are arranged horizontally within the fixed guide frame 621, along the width of the graphite boat. Correspondingly, two rows of guide wheels 6221 are provided on the front and rear sides of the first telescopic movable bracket 622. When the first telescopic interactive bracket is inserted into the slide groove in the fixed guide frame 621, the guide wheels 6221 on either side extend into the guide groove 6211 on the same side and slide within the guide groove 6211, thereby achieving a sliding connection between the first telescopic movable bracket 622 and the fixed guide frame 621. The sliding connection between the second telescopic movable bracket 623 and the first telescopic movable bracket 622 is similar to the sliding connection between the first telescopic movable bracket 622 and the fixed guide frame 621, and will not be further described here.

[0031] Reference Figure 5 and Figure 6In this embodiment, the first telescopic drive mechanism 624 includes a telescopic drive motor 6241, a drive gear 6242, and a drive rack 6243. The telescopic drive motor 6241 is mounted on the lifting bracket 626. The drive gear 6242 is connected to the output shaft of the telescopic drive motor 6241 via a speed reducer. The drive rack 6243 is mounted on the upper surface of the first telescopic movable bracket 622 and meshes with the drive gear 6242. To synchronize the deployment of the second telescopic movable bracket 623 with the deployment of the first telescopic movable bracket 622, the second telescopic drive mechanism 625 includes two synchronous pulleys 6251, a synchronous belt 6252, a first synchronous slider 6253, and a second synchronous slider 6254. The two synchronous pulleys 6251 are rotatably mounted on the left and right ends of the first telescopic movable bracket 622. The rotating shafts of the two synchronous pulleys 6251 are at the same height, and the synchronous belt 6252 is looped between the two synchronous pulleys 6251. The first synchronous slider 6253 is fixedly mounted in the middle of the lifting bracket 626 and is fixedly connected to the side of the synchronous belt 6252 that is above the rotating shaft of the synchronous pulley 6251. The second synchronous slider 6254 is fixedly mounted in the middle of the second telescopic movable bracket 623 and is fixedly connected to the side of the synchronous belt 6252 that is below the rotating shaft of the synchronous pulley 6251. When the first telescopic movable bracket 622 is extended to one side by the first telescopic drive mechanism 624, the first synchronous slider 6253 pulls the synchronous belt 6252 in the direction opposite to the first telescopic drive mechanism 624, causing the second synchronous slider 6254 to move in the same direction as the first telescopic drive mechanism 624, driving the second telescopic movable bracket 623 to expand synchronously in the same direction as the first telescopic drive bracket.

[0032] Reference Figure 3 and Figure 5 In this embodiment, to prevent the support assembly 610 from colliding with the graphite boat on the storage rack 500 during retraction, the bidirectionally telescopic platform 620 is mounted on the lifting drive mechanism 630 via a retracting drive mechanism 640. The retracting drive mechanism 640 is used to drive the bidirectionally telescopic platform 620 to move in the longitudinal direction of the graphite boat. The retracting drive mechanism 640 includes two retracting guide rails 641 and a retracting electric cylinder 642. The two retracting guide rails 641 are mounted parallel to the longitudinal direction of the graphite boat on the lifting bracket 626. A retracting movable bracket 6261 is slidably mounted on the lifting bracket 626 via the two retracting guide rails 641. The retracting electric cylinder 642 is mounted on the lifting bracket 626, and the piston of the retracting electric cylinder 642 is connected to the retracting movable bracket 6261. The fixed guide frame 621 and the first retracting drive mechanism 624 of the bidirectionally telescopic platform 620 are both mounted on the retracting movable bracket 6261.

[0033] Reference Figure 2 and Figure 4In this embodiment, two steering wheels 210 and two universal wheels 220 are provided on the lower surface of the chassis 100. The two steering wheels 210 are located at one pair of opposite corners of the chassis 100, and the two universal wheels 220 are located at the other pair of opposite corners of the chassis 100. The steering wheel 210 and universal wheels 220 located only on the rear side of the chassis 100 are attached to the chassis 100 via a travel stabilization mechanism 300. The stabilizing rocker 310 in the travel stabilization mechanism 300 is arranged along the width of the graphite boat. The travel drive mechanism 212 is a motor and is mounted together with the steering wheel 210 on a steering seat rotatably mounted on the chassis 100. The output shaft of the travel drive mechanism 212 is connected to the rotating shaft of the steering wheel 210. The steering drive mechanism 211 includes a steering motor 2113, a driven steering gear 2111 and a driving steering gear 2112. The driven steering gear 2111 is arranged on the peripheral side of the steering seat, and the steering motor 2113 is arranged on the lower surface of the chassis 100. The driving steering gear 2112 and the driven steering gear 2111 are connected through a reducer, and the driving steering gear 2112 is engaged with the driven steering gear 2111.

[0034] Reference Figure 1 In this embodiment, a touch screen 430 is installed at the front end of the upper frame 400, and control buttons 420, including an emergency stop button, a start button, and a reset button, are installed at both the front and rear ends. A radar for SLAM guidance of the AGV equipment is installed at the top of the upper frame 400. Obstacle avoidance radars 120 are installed at the four corners of the chassis 100 to detect obstacles. In this embodiment, the avoidance radars use laser obstacle avoidance radars. A charging port is also installed on the side of the chassis 100. Anti-collision strips 110 are also installed on the sides of the chassis 100 to cushion the impact of obstacles.

[0035] Reference Figure 1 In this embodiment, two first distance measuring sensors 130 are provided on both the left and right sides of the chassis 100. The two first distance measuring sensors 130 on the same side are respectively arranged at the two ends of the storage position. The first distance measuring sensors 130 are used to detect the distance between the two ends of the chassis 100 and the two ends of the graphite boat. This facilitates adjusting the position of the chassis 100 relative to the graphite boat through the steering wheel 210, so that the AGV equipment is parallel to the graphite boat on the production line, thereby improving stability when receiving the graphite boat.

[0036] Reference Figure 3 、 Figure 5 and Figure 6In this embodiment, the support assembly 610 includes a support block 611 and two second distance sensors 612. The support block 611 is provided with a bracket that matches the shape of the bottom of the graphite boat. The two second distance sensors 612 are respectively disposed at the ends of the support block 611. The second distance sensors 612 are used to detect the distance between the ends of the support block 611 and the two sides of the bottom of the graphite boat. Since the bottom of the graphite boat is V-shaped or inverted trapezoidal, the distance between the ends of the support block 611 and the two sides of the bottom of the graphite boat can be detected to determine whether the graphite boat is located in the center of the support block 611, further improving stability when receiving the graphite boat. In this embodiment, in order to facilitate the adjustment of the position of the material support assembly 610 so that the graphite boat can fall into the center of the support block 611, the material support assembly 610 is set on the second telescopic movable bracket 623 through the material support fine-tuning mechanism 6111. The material support fine-tuning mechanism 6111 is used to drive the material support assembly 610 to move in the width direction of the graphite boat relative to the second telescopic interactive bracket. The material support fine-tuning mechanism 6111 can be an electric cylinder or a linear drive mechanism composed of a motor and a screw pair. Its specific structure is common knowledge in the field and will not be elaborated here.

[0037] During operation, the AGV, guided by the navigation radar 410, first arrives at the designated workstation. Two first distance sensors 130 then measure the distance between the AGV and the graphite boat, adjusting the chassis 100 to align the AGV with the boat. Subsequently, driven by the lift drive 630, the two-way telescopic platform 620, and the avoidance drive 640, the two support assemblies 610 extend to the ends of the bottom of the graphite boat. Next, two second distance sensors 612 measure the distance between the support block 611 and the graphite boat, adjusting the position of the support assembly 610 to center the graphite boat on the support block 611. The lift drive 630 then drives the support assembly 610 to lift the graphite boat from the production line and, via the two-way telescopic platform 620, transfer the graphite boat to an empty storage location. Finally, the lift drive 630 drives the support assembly 610 downward, placing the graphite boat on the storage pad 510 in the storage location, completing the loading and unloading process. The process of taking the graphite boat out of the storage location is vice versa, which will not be described in detail here.

[0038] It should be noted that in the description of the present invention, if there are any descriptions of directions, such as up, down, front, back, left, right, etc., the directions or positional relationships indicated are all based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed or operated in a specific direction, and cannot be understood as a limitation on the present invention.

[0039] In the description of this utility model, "several" means one or more, "more" means two or more, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. If there are descriptions of "first," "second," and so on, these are used solely to distinguish technical features and are not to be construed as indicating or implying relative importance, or implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0040] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0041] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the present invention fall within the scope of protection required by the present invention.

Claims

1. A graphite boat transfer AGV device, characterized in that: include: chassis (100); A traveling mechanism (200) is provided on the lower surface of the chassis (100) and is used to drive the chassis (100) to move, and includes a steering wheel (210), a universal wheel (220), a steering drive mechanism (211), and a traveling drive mechanism (212). The steering drive mechanism (211) is used to drive the steering wheel (210) to turn in a horizontal plane, and the traveling drive mechanism (212) is used to drive the steering wheel (210) to rotate in a vertical plane. A walking stabilization mechanism (300) is provided on the lower surface of the chassis (100), and includes a swing support (320) and a stabilizing seesaw (310). The swing support (320) is fixedly provided on the lower surface of the chassis (100). The middle portion of the stabilizing seesaw (310) is rotatably connected to the swing support (320). The stabilizing seesaw (310) can rotate relative to the swing support (320) in a vertical plane. The steering wheel (210) or the universal wheel (220) is provided at both ends of the stabilizing seesaw. a storage rack (500), disposed on the upper surface of the chassis (100) and used for temporarily storing the graphite boat; A material taking mechanism (600) is provided on the upper surface of the chassis (100) and is used to move the graphite boat into the storage rack (500) or out of the storage rack (500).

2. The graphite boat transfer AGV equipment according to claim 1, characterized in that: The storage rack (500) includes at least two layers, each layer includes at least two storage positions arranged side by side, the material taking mechanism (600) includes a pair of material supporting components (610), a pair of bidirectional telescopic platforms (620) and a pair of lifting drive mechanisms (630), the two material supporting components (610) are used to support the two ends of the graphite boat, the two lifting drive mechanisms (630) are respectively arranged at the two ends of the chassis (100), the bidirectional telescopic platform (620) is arranged on the lifting drive mechanism (630) on the corresponding side, and the bidirectional telescopic platform (620) can reciprocate in the vertical direction under the drive of the lifting drive mechanism (630), the material supporting component (610) is arranged on the bidirectional telescopic platform (620) on the corresponding side, and the material supporting component (610) can reciprocate in the width direction of the graphite boat under the drive of the bidirectional telescopic platform (620).

3. The graphite boat transfer AGV equipment according to claim 2, characterized in that: The material taking mechanism (600) further includes an avoidance drive mechanism (640), and the bidirectional telescopic platform (620) is arranged on the lifting drive mechanism (630) through the avoidance drive mechanism (640). The avoidance drive mechanism (640) is used to drive the bidirectional telescopic platform (620) to reciprocate in the length direction of the graphite boat.

4. The graphite boat transfer AGV equipment according to claim 2, characterized in that: The bidirectional telescopic platform (620) comprises a lifting bracket (626), a fixed guide frame (621), a first telescopic drive mechanism (624), a second telescopic drive mechanism (625), a first telescopic movable bracket (622) and a second telescopic movable bracket (623); the lifting bracket (626) is connected to the lifting drive mechanism (630); the first telescopic drive mechanism (624) and the fixed guide frame (621) are arranged on the lifting bracket (626); the first telescopic movable bracket (622) is slidably connected to the fixed guide frame (621); the second telescopic movable bracket (623) is slidably connected to the fixed guide frame (621); The first telescopic movable bracket (622) is slidably connected, the first telescopic driving mechanism (624) is used to drive the first telescopic movable bracket (622) to reciprocate in the width direction of the graphite boat relative to the fixed guide frame (621), the second telescopic driving mechanism (625) is arranged on the first telescopic movable bracket (622), the second telescopic driving mechanism (625) is used to drive the second telescopic movable bracket (623) to reciprocate in the width direction of the graphite boat relative to the first telescopic movable bracket (622), and the material supporting assembly (610) is arranged on the second telescopic movable bracket (623).

5. The graphite boat transfer AGV equipment according to claim 4, characterized in that: The first telescopic drive mechanism (624) includes a telescopic drive motor (6241), a drive gear (6242) and a drive rack (6243); the telescopic drive motor (6241) is arranged on the lifting bracket (626); the drive rack (6243) is arranged on the first telescopic movable bracket (622) along the width direction of the graphite boat; the drive gear (6242) is transmission-connected to the output shaft of the telescopic drive motor (6241); and the drive gear (6242) is meshed with the drive rack (6243).

6. The graphite boat transfer AGV equipment according to claim 4, characterized in that: The second telescopic driving mechanism (625) includes two synchronous wheels (6251) and a synchronous belt (6252). The two synchronous wheels (6251) are arranged at both ends of the first telescopic movable bracket (622). The two synchronous wheels (6251) have the same horizontal height. The synchronous belt (6252) is sleeved between the two synchronous wheels (6251). A first synchronous slider (6253) is provided on the fixed guide frame (621). A second synchronous slider (6254) is provided on the second telescopic movable bracket (623). The first synchronous slider (6253) is fixedly connected to the synchronous belt (6252) located on one side of the upper and lower sides of the rotating shaft of the synchronous wheel (6251). The second synchronous slider (6254) is fixedly connected to the synchronous belt (6252) located on the other side of the upper and lower sides of the rotating shaft of the synchronous wheel (6251).

7. The graphite boat transfer AGV equipment according to claim 1, characterized in that: Two first distance measuring sensors (130) are provided on both the left and right sides of the chassis (100), and the two first distance measuring sensors (130) on the same side are provided at the front and rear ends of the storage rack (500). The first distance measuring sensors (130) are used to measure the distance between the two ends of the chassis (100) and the two ends of the graphite boat.

8. The graphite boat transfer AGV equipment according to claim 2, characterized in that: The support assembly (610) includes a support block (611) and two second distance measuring sensors (612). The upper surface of the support assembly (610) is provided with a bracket matching the shape of the bottom of the graphite boat. The two ends of the support block (611) are each provided with a second distance measuring sensor (612). The second distance measuring sensor (612) is used to measure the distance between the two sides of the bottom of the graphite boat and the two ends of the support block (611).

9. The graphite boat transfer AGV equipment according to claim 1, characterized in that: A navigation radar (410) is provided on the chassis (100), and an obstacle avoidance radar (120) is provided on the side of the chassis (100).

10. The graphite boat transfer AGV equipment according to claim 4, characterized in that: The material supporting assembly (610) is arranged on the second telescopic movable bracket (623) through a material supporting fine-tuning mechanism (6111), and the material supporting fine-tuning mechanism (6111) is used to drive the material supporting assembly (610) to reciprocate in the width direction of the graphite boat relative to the second telescopic movable bracket (623).

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