Automatic guided vehicle for carrying track cover plate

Abstract

The utility model relates to the technical field of track cover plate carrying equipment, in particular to a track cover plate carrying automatic guide vehicle which comprises a guide trolley, an assembly cavity, a carrying module, an electromagnet and an auxiliary support. The assembly cavity is formed in the bottom of the guide trolley; the carrying module is arranged on the inner wall of the assembly cavity; the electromagnet is arranged on the carrying module and used for magnetically adsorbing the cover plate; the auxiliary support is arranged on the inner wall of the assembly cavity and connected with the electromagnet. According to the cover plate carrying device, the auxiliary support with the pair of limiting side frames and the bearing top frame, the auxiliary electromagnet and the carrying module are arranged to carry the cover plate, the stability of the device in the cover plate carrying process is improved, and the defect that in the prior art, the cover plate carrying stability is poor is overcome.

Description

Technical Field

[0001] The utility model relates to the technical field of track cover plate transporting equipment, in particular to an automatic guided vehicle for transporting track cover plates. Background Art

[0002] During the industrial production process, in order to ensure that the ground rail workshop for operating cranes is compatible with the operation of air cushion equipment, cover plate handling equipment is often required to transport the covers. When the air cushion equipment needs to be operated, the cover plate handling equipment will lay the covers on the floor cabinet. When the overhead crane needs to be operated, the cover plate handling equipment will move the covers away from the ground rail.

[0003] In the existing technology, the cover plate handling equipment generally adopts an electric trolley equipped with a lifting device and an electromagnet to transport the cover plate. In the process of the cover plate handling equipment transporting the cover plate, the electric trolley carries the lifting device and the electromagnet to the top of the cover plate, and then the lifting device controls the electromagnet to descend and place the electromagnet on the top of the cover plate. Next, the electromagnet is energized and the magnetic force of the electromagnet is used to attract the cover plate. After that, the lifting device drives the electromagnet with the cover plate to rise, and finally achieves the purpose of grabbing and transporting the cover plate.

[0004] However, since the cover plates generally have a large weight, the cover plates are prone to radial shaking when being transported by the above-mentioned cover plate transporting equipment, resulting in a problem of poor cover plate transport stability. Utility Model Content

[0005] In order to solve the technical problem of poor stability in cover plate handling in the prior art, the present invention provides an automatic guided vehicle for transporting track cover plates, comprising: a guiding trolley, an assembly cavity, a transport module, an electromagnet and an auxiliary bracket;

[0006] The assembly cavity is opened at the bottom of the guide trolley;

[0007] The transport module is arranged on the inner wall of the assembly cavity;

[0008] The electromagnet is set on the handling module to magnetically attract the cover;

[0009] The auxiliary bracket is arranged on the inner wall of the assembly cavity, and the auxiliary bracket is connected to the electromagnet.

[0010] Furthermore, the auxiliary bracket includes: a load-bearing top frame, an assembly hole and a pair of assembly components;

[0011] The load-bearing top frame is movably arranged in the assembly cavity, and the load-bearing top frame is located between the electromagnet and the inner cavity top wall of the assembly cavity;

[0012] The assembly hole is provided on the load-bearing top frame, and the execution end of the transport module passes through the assembly hole and is connected to the electromagnet;

[0013] A pair of assembly components are arranged on the inner wall of the assembly cavity, and the pair of assembly components are connected to the load-bearing top frame for guiding the load-bearing top frame.

[0014] Furthermore, the load-bearing top frame includes: a load-bearing portion and a receiving portion, the receiving portion is arranged on the top of the load-bearing portion, the inner cavity of the receiving portion is exposed to the bottom surface of the load-bearing portion, the assembly hole is arranged on the receiving portion, and the assembly hole is connected to the inner cavity of the receiving portion. When the electromagnet is in the inner cavity of the receiving portion, the bottom surface of the electromagnet and the bottom surface of the load-bearing portion are in the same plane.

[0015] Furthermore, the assembly assembly includes: a pair of telescopic guide rails, a guide rod and a slider;

[0016] A pair of telescopic guide rails are respectively fixedly arranged on the inner walls on both sides of the assembly cavity, the pair of telescopic guide rails are arranged in parallel, and any one of the telescopic guide rails is vertically arranged along the height direction of the guide trolley;

[0017] The guide rods are arranged on a pair of telescopic guide rails, and both ends of the guide rods are fixedly connected to the execution ends of the pair of telescopic guide rails respectively. Any guide rod is arranged along the length direction of the assembly cavity, and the guide rods of a pair of assembly components are arranged in parallel;

[0018] The slider is fixedly arranged on the top of the load-bearing top frame, and the slider is slidably connected with the guide rod.

[0019] Furthermore, the auxiliary bracket further comprises: a pair of limiting side frames, a plurality of first return torsion springs and a plurality of second return torsion springs;

[0020] The head ends of the pair of limiting side frames are hinged to the load-bearing top frame, the pair of limiting side frames are arranged in parallel, and the load-bearing top frame is located between the pair of limiting side frames. When the pair of limiting side frames are in a folded state, the distance between the tail ends of the pair of limiting side frames is no greater than the width of the assembly cavity. When the pair of limiting side frames are in an extended state, the distance between the tail ends of the pair of limiting side frames is greater than the width of the assembly cavity, and are used to clamp and fix the cover plate.

[0021] A plurality of first return torsion springs are provided at a hinge between one of the position-limiting side frames and the load-bearing top frame, one end of the first return torsion spring being connected to the position-limiting side frame, and the other end of the first return torsion spring being connected to the load-bearing top frame, for elastically supporting the position-limiting side frame to remain in an extended state;

[0022] Several second return torsion springs are arranged at the hinge between another limiting side frame and the load-bearing top frame. One end of the second return torsion spring is connected to the limiting side frame, and the other end of the second return torsion spring is connected to the load-bearing top frame to elastically support the limiting side frame to remain in an extended state.

[0023] Furthermore, the position-limiting side frame comprises: a connecting portion and a position-limiting portion;

[0024] The head end of the connecting portion is hinged to the load-bearing top frame, and when the limiting side frame is in a folded state, the connecting portion is perpendicular to the bottom surface of the load-bearing top frame;

[0025] The limiting part is arranged on the connecting part, the head end of the limiting part is fixedly connected to the tail end of the connecting part, the limiting part is perpendicular to the connecting part, and when the limiting side frame is in a folded state, the distance between the limiting part and the load-bearing top frame is not less than the thickness of the cover plate, which is used to clamp and fix the cover plate.

[0026] Furthermore, the limiting side frame further includes: a guiding slope, which is arranged at the tail end of the limiting portion. When the limiting side frame is in a folded state, the guiding slope is inclined toward the bottom of the guide trolley.

[0027] Furthermore, the limiting side frame further comprises: a plurality of accommodating grooves and a plurality of balls;

[0028] A plurality of accommodating grooves are provided on the side wall of the connecting portion;

[0029] Several balls are movably arranged in the inner cavities of several accommodating grooves respectively. The balls match the inner cavity shape of the accommodating grooves. The balls protrude from the outer surface of the connecting part. When the limiting side frame is in a folded state, the several balls abut against the inner cavity side wall of the assembly cavity.

[0030] Furthermore, the handling module includes: a linear module and a winch;

[0031] The linear module is fixedly arranged on the top wall of the inner cavity of the assembly cavity, and the linear module is arranged along the length direction of the assembly cavity;

[0032] The winch is fixedly arranged at the execution end of the linear module, and the traction rope of the winch is fixedly connected to the electromagnet.

[0033] Furthermore, it also includes: a controller, several visual cameras and several obstacle avoidance sensors;

[0034] The controller is arranged inside the guide vehicle and is electrically connected to the transport module;

[0035] A plurality of visual cameras are arranged on the top wall of the inner cavity of the assembly cavity, and the plurality of visual cameras are electrically connected to the controller;

[0036] A plurality of obstacle avoidance sensors are arranged on the guide vehicle, and the plurality of obstacle avoidance sensors are electrically connected to the controller.

[0037] The track cover transporting automatic guided vehicle according to the embodiment of the utility model has the following beneficial effects: the device transports the cover by providing an auxiliary bracket with a pair of limiting side frames and a load-bearing top frame, an auxiliary electromagnet and a transport module, thereby increasing the stability of the device during the cover transporting process and solving the defect of poor cover transporting stability in the prior art.

[0038] It is to be understood that both the foregoing general description and the following detailed description are exemplary, and are intended to provide further explanation of the technology as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a schematic diagram of an assembly according to an embodiment of the present utility model;

[0040] Figure 2 Schematic diagram of the assembly of an embodiment of the present invention (the guide vehicle, visual camera and obstacle avoidance sensor are omitted);

[0041] Figure 3 Schematic diagram of the assembly of the load-bearing top frame and the limiting side frame according to an embodiment of the present utility model;

[0042] Figure 4 for Figure 3 A partial enlarged schematic diagram of area A in the middle.

[0043] Description of the accompanying drawings:

[0044] 1-Guide trolley, 2-Assembly cavity, 3-Electromagnet, 4-Auxiliary bracket, 41-Load-bearing top frame, 411-Load-bearing part, 412-Accommodating part, 42-Assembly hole, 43-Assembly component, 431-Telescopic guide rail, 432-Guide rod, 433-Slider, 44-Limiting side frame, 441-Connecting part, 4411-Ball, 442-Limiting part, 4421-Guide slope, 5-Transportation module, 51-Linear module, 52-Winch, 6-Visual camera, 7-Obstacle avoidance sensor. DETAILED DESCRIPTION

[0045] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings to further illustrate the present invention.

[0046] The aforementioned and other technical aspects, features, and functions of the present invention will be more clearly understood in the following detailed description of the embodiments with reference to the accompanying drawings. Directional terms such as up, down, left, right, front, and back, used in the following embodiments, are merely references to the directions in the accompanying drawings. Therefore, the directional terms used are for illustrative purposes only and are not intended to limit the present invention. Furthermore, identical reference numerals throughout the embodiments denote identical components.

[0047] First, combine Figure 1 The track cover transport automatic guided vehicle according to the embodiment of the present invention is described, which is used to transport the covers and has a wide range of application scenarios.

[0048] like Figure 1 、 2As shown, the track cover plate transporting automatic guided vehicle of an embodiment of the present invention comprises: a guiding trolley 1, an assembly cavity 2, a transport module, an electromagnet 3 and an auxiliary bracket.

[0049] Specifically, if Figure 1 、 2 As shown, the assembly cavity 2 is opened at the bottom of the guide trolley 1; the transport module is arranged on the inner wall of the assembly cavity 2; the electromagnet 3 is arranged on the transport module for magnetically adsorbing the cover plate; the auxiliary bracket is arranged on the inner wall of the assembly cavity 2, and the auxiliary bracket is connected to the electromagnet 3.

[0050] Further, if Figures 1 to 3 As shown, the auxiliary bracket includes: a load-bearing top frame 41, an assembly hole 42 and a pair of assembly components; the load-bearing top frame 41 is movably arranged in the assembly cavity 2, and the load-bearing top frame 41 is located between the electromagnet 3 and the inner cavity top wall of the assembly cavity 2; the assembly hole 42 is arranged on the load-bearing top frame 41, and the execution end of the transport module is connected to the electromagnet 3 through the assembly hole 42; a pair of assembly components are arranged on the inner wall of the assembly cavity 2, and a pair of assembly components are connected to the load-bearing top frame 41 for guiding the load-bearing top frame 41.

[0051] Further, if Figures 1 to 3 As shown, the supporting top frame 41 includes: a supporting portion 411 and a receiving portion 412, the receiving portion 412 is arranged on the top of the supporting portion 411, the inner cavity of the receiving portion 412 is exposed to the bottom surface of the supporting portion 411, and the assembly hole 42 is arranged on the receiving portion 412, and the assembly hole 42 is connected to the inner cavity of the receiving portion 412. When the electromagnet 3 is in the inner cavity of the receiving portion 412, the bottom surface of the electromagnet 3 and the bottom surface of the supporting portion 411 are in the same plane.

[0052] Further, if Figure 1 、 2 As shown, the assembly component includes: a pair of telescopic guide rails 431, a guide rod 432 and a slider 433; a pair of telescopic guide rails 431 are respectively fixedly arranged on the inner walls on both sides of the assembly cavity 2, and the pair of telescopic guide rails 431 are arranged in parallel, and any telescopic guide rail 431 is vertically arranged along the height direction of the guide trolley 1; the guide rod 432 is arranged on the pair of telescopic guide rails 431, and the two ends of the guide rod 432 are respectively fixedly connected to the execution end of the pair of telescopic guide rails 431, and any guide rod 432 is arranged along the length direction of the assembly cavity 2, and the guide rods 432 of a pair of assembly components are arranged in parallel; the slider 433 is fixedly arranged on the top of the load-bearing top frame 41, and the slider 433 is slidably connected to the guide rod 432. This embodiment enhances the stability of the device during the cover plate transportation process by arranging the assembly component.

[0053] Further, if Figures 1 to 3As shown, the auxiliary bracket also includes: a pair of limiting side frames 44, a plurality of first return torsion springs (not shown in the figure) and a plurality of second return torsion springs (not shown in the figure); the head ends of the pair of limiting side frames 44 are hinged to the load-bearing top frame 41, the pair of limiting side frames 44 are arranged in parallel, and the load-bearing top frame 41 is located between the pair of limiting side frames 44. When the pair of limiting side frames 44 are in a folded state, the distance between the tail ends of the pair of limiting side frames 44 is not greater than the width of the assembly cavity 2. When the pair of limiting side frames 44 are in an extended state, the distance between the tail ends of the pair of limiting side frames 44 is greater than the width of the assembly cavity 2, which is used to clamp hold and fix the cover plate; several first return torsion springs are arranged at the hinge between one of the limiting side frames 44 and the load-bearing top frame 41, one end of the first return torsion spring is connected to the limiting side frame 44, and the other end of the first return torsion spring is connected to the load-bearing top frame 41, so as to elastically support the limiting side frame 44 to remain in the extended state; several second return torsion springs are arranged at the hinge between the other limiting side frame 44 and the load-bearing top frame 41, one end of the second return torsion spring is connected to the limiting side frame 44, and the other end of the second return torsion spring is connected to the load-bearing top frame 41, so as to elastically support the limiting side frame 44 to remain in the extended state.

[0054] Further, if Figures 1 to 4 As shown, the limiting side frame 44 includes: a connecting part 441 and a limiting part 442; the head end of the connecting part 441 is hinged to the load-bearing top frame 41, and when the limiting side frame 44 is in a folded state, the connecting part 441 is perpendicular to the bottom surface of the load-bearing top frame 41; the limiting part 442 is arranged on the connecting part 441, and the head end of the limiting part 442 is fixedly connected to the tail end of the connecting part 441, and the limiting part 442 is perpendicular to the connecting part 441. When the limiting side frame 44 is in a folded state, the distance between the limiting part 442 and the load-bearing top frame 41 is not less than the thickness of the cover plate, which is used to clamp and fix the cover plate.

[0055] Further, if Figure 3 、 4 As shown, the limiting side frame 44 further includes: a guiding slope 4421, which is arranged at the tail end of the limiting portion 442. When the limiting side frame 44 is in the folded state, the guiding slope 4421 is inclined toward the bottom of the guide vehicle 1.

[0056] Further, if Figure 3 、 4As shown, the limiting side frame 44 also includes: a plurality of accommodating grooves (not shown in the figure) and a plurality of balls 4411; the plurality of accommodating grooves are opened on the side walls of the connecting portion 441; the plurality of balls 4411 are movably arranged in the inner cavities of the plurality of accommodating grooves, and the balls 4411 match the inner cavity shape of the accommodating grooves, and the balls 4411 protrude from the outer surface of the connecting portion 441. When the limiting side frame 44 is in a folded state, the plurality of balls 4411 abut against the inner cavity side walls of the assembly cavity 2, and are used to support the limiting side frame 44 to reduce the friction between the limiting side frame 44 and the inner wall of the assembly cavity 2.

[0057] Further, if Figure 1 、 2 As shown, the transport module includes: a linear module 51 and a winch 52; the linear module 51 is fixedly arranged on the top wall of the inner cavity of the assembly cavity 2, and the linear module 51 is arranged along the length direction of the assembly cavity 2; the winch 52 is fixedly arranged at the execution end of the linear module 51, and the traction rope of the winch 52 passes through the assembly hole 42 and is fixedly connected to the electromagnet 3.

[0058] Further, if Figure 1 As shown, the device also includes: a controller (not shown in the figure), several visual cameras 6 and several obstacle avoidance sensors 7; the controller is arranged inside the guide cart 1, and the controller is electrically connected to the winch 52, the electromagnet 3 and the linear module 51 of the transport module, and is used to control the operation of the linear module 51 and the winch 52; several visual cameras 6 are arranged on the top wall of the inner cavity of the assembly cavity 2, and several visual cameras 6 are electrically connected to the controller, and are used to collect image information of the cover plate located on the lower side of the assembly cavity 2, so that the controller can judge whether the electromagnet 3 is aligned with the cover plate in combination with the image information of the cover plate; several obstacle avoidance sensors 7 are arranged on the guide cart 1, and several obstacle avoidance sensors 7 are electrically connected to the controller, so as to detect whether there are obstacles on the travel route of the guide cart 1.

[0059] The guide vehicle for this device is preferably an omnidirectional wheeled vehicle with an independent suspension system. The automatic navigation system employed in this device is a laser SLEM navigation design, with reflectors added to assist with positioning based on site conditions. The accuracy can reach ±10mm. The SLAM navigation principle: SLAM (simultaneous localization and mapping) refers to simultaneous positioning and mapping. In an unknown environment, the robot uses its internal sensors (encoders, IMUs, etc.) and external sensors (laser sensors or vision sensors) to locate itself. Based on this positioning, it uses environmental information obtained by external sensors to incrementally construct a map of the environment.

[0060] In the SLAM laser navigation car based on natural navigation in the environment, the robot obtains odometer information through the encoder combined with IMU calculation during movement, and uses the robot's motion model to obtain an initial estimate of the robot's posture. Then, the laser data obtained by the laser sensor mounted on the robot is combined with the observation model (laser scanning matching) to accurately correct the robot's posture and obtain the robot's precise positioning. Finally, based on the precise positioning, the laser data is added to the grid map. This process is repeated, and the robot moves in the environment, and finally the construction of the entire scene map is completed.

[0061] After the scene map is built, it is necessary to perform map-based position and path planning on the basis of the constructed map to realize the navigation of the laser car. During the movement of the SLAM laser navigation car, the odometer information is combined with the laser data obtained by the laser sensor to match the map, and the precise position of the car in the map is continuously obtained in real time. At the same time, the path is planned according to the current position and the mission destination (dynamic route or fixed route, and the route is slightly different each time). According to the planned trajectory, the control command is sent to the car to make the car drive automatically.

[0062] When the equipment is running, the guide trolley 1 moves to the top of the cover to be transported, and then the winch 52 is started to release the electromagnet 3, so that the electromagnet 3 and the auxiliary bracket are synchronously lowered along the guide of the telescopic guide rail 431 until the electromagnet 3 abuts against the top of the cover; after the bottom of the electromagnet 3 contacts the cover, the electromagnet 3 is energized to magnetically adsorb the cover, and then the winch 52 reels its traction rope, driving the electromagnet 3 with the cover adsorbed thereon to rise synchronously with the auxiliary bracket. In the process of the auxiliary bracket rising from the lower side of the assembly cavity 2 to the inner cavity of the assembly cavity 2, a pair of limiting side frames 44 of the auxiliary bracket interfere with the bottom port of the assembly cavity 2, and a pair of limiting side frames 44 flip 90° to the lower side of the load-bearing top frame 41 from the extended state. It is converted to a folded state, and the cover is clamped and fixed in the cavity between the load-bearing top frame 41 and a pair of limiting side frames 44 to prevent the cover from falling after the electromagnet 3 is powered off; next, the linear module 51 drives the winch 52 to move along the length direction of the assembly cavity 2 to above the target position, and then the winch 52 releases the electromagnet 3 and the auxiliary bracket, so that the electromagnet 3 with the cover adsorbed and the auxiliary bracket are lowered to the ground. When the auxiliary bracket descends to the lower side of the assembly cavity 2 through the bottom port of the assembly cavity 2, the pair of limiting side frames 44 are expanded outward under the elastic support of multiple first return torsion springs and multiple second return torsion springs. After the cover contacts the ground, the electromagnet 3 is powered off, and the cover is released to the ground, finally completing the transportation of the cover.

[0063] Above, refer to Figures 1 to 4The present invention describes an automatic guided vehicle for transporting track covers according to an embodiment of the present invention, which has the following beneficial effects: the device transports the covers by providing an auxiliary bracket with a pair of limiting side frames and a load-bearing top frame, an auxiliary electromagnet and a transport module, thereby increasing the stability of the device during the process of transporting the covers and solving the defect of poor stability in cover transporting in the prior art.

[0064] It should be noted that, in this specification, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the elements.

[0065] Although the present invention has been described in detail through the above preferred embodiments, it should be understood that the above description should not be considered as limiting the present invention. After reading the above description, various modifications and alternatives to the present invention will be readily apparent to those skilled in the art. Therefore, the scope of protection of the present invention shall be defined by the appended claims.

Claims

1. A track cover transport automatic guided vehicle, characterized in that: Includes: guide trolley, assembly cavity, handling module, electromagnet and auxiliary bracket; The assembly cavity is provided at the bottom of the guide vehicle; The transport module is arranged on the inner wall of the assembly cavity; The electromagnet is provided on the transport module and is used for magnetically adsorbing the cover plate; The auxiliary bracket is arranged on the inner wall of the assembly cavity, and the auxiliary bracket is connected to the electromagnet.

2. The track cover transport automatic guided vehicle according to claim 1, characterized in that: The auxiliary bracket comprises: a load-bearing top frame, an assembly hole and a pair of assembly components; The load-bearing top frame is movably arranged in the assembly cavity, and the load-bearing top frame is located between the electromagnet and the inner cavity top wall of the assembly cavity; The assembly hole is provided on the load-bearing top frame, and the execution end of the transport module passes through the assembly hole and is connected to the electromagnet; The pair of assembly components are arranged on the inner wall of the assembly cavity, and the pair of assembly components are connected to the load-bearing top frame for guiding the load-bearing top frame.

3. The track cover transport automatic guided vehicle according to claim 2, characterized in that: The load-bearing top frame includes: a load-bearing portion and a receiving portion, the receiving portion is arranged on the top of the load-bearing portion, the inner cavity of the receiving portion is exposed to the bottom surface of the load-bearing portion, the assembly hole is arranged on the receiving portion, and the assembly hole is connected to the inner cavity of the receiving portion. When the electromagnet is in the inner cavity of the receiving portion, the bottom surface of the electromagnet and the bottom surface of the load-bearing portion are in the same plane.

4. The track cover transport automatic guided vehicle according to claim 2, characterized in that: The assembly assembly comprises: a pair of telescopic guide rails, a guide rod and a slider; The pair of telescopic guide rails are respectively fixedly arranged on the inner walls on both sides of the assembly cavity, the pair of telescopic guide rails are arranged in parallel, and any one of the telescopic guide rails is vertically arranged along the height direction of the guide trolley; The guide rod is arranged on the pair of telescopic guide rails, and both ends of the guide rod are fixedly connected to the execution ends of the pair of telescopic guide rails respectively. Any one of the guide rods is arranged along the length direction of the assembly cavity, and the guide rods of the pair of assembly components are arranged in parallel; The sliding block is fixedly arranged on the top of the load-bearing top frame, and the sliding block is slidably connected to the guide rod.

5. The track cover transporting automatic guided vehicle according to claim 2, characterized in that: The auxiliary bracket further comprises: a pair of limiting side frames, a plurality of first return torsion springs and a plurality of second return torsion springs; The head ends of the pair of limiting side frames are hinged to the load-bearing top frame, the pair of limiting side frames are arranged in parallel, and the load-bearing top frame is located between the pair of limiting side frames. When the pair of limiting side frames are in a folded state, the distance between the tail ends of the pair of limiting side frames is no greater than the width of the assembly cavity. When the pair of limiting side frames are in an extended state, the distance between the tail ends of the pair of limiting side frames is greater than the width of the assembly cavity, so as to clamp and fix the cover plate. The plurality of first return torsion springs are arranged at a hinge between one of the position-limiting side frames and the load-bearing top frame, one end of the first return torsion spring is connected to the position-limiting side frame, and the other end of the first return torsion spring is connected to the load-bearing top frame, so as to elastically support the position-limiting side frame to remain in an extended state; The plurality of second return torsion springs are arranged at the hinge between another of the limiting side frames and the load-bearing top frame, one end of the second return torsion spring is connected to the limiting side frame, and the other end of the second return torsion spring is connected to the load-bearing top frame, so as to elastically support the limiting side frame to remain in an extended state.

6. The track cover transporting automatic guided vehicle according to claim 5, characterized in that: The position-limiting side frame comprises: a connecting portion and a position-limiting portion; The head end of the connecting portion is hinged to the load-bearing top frame, and when the limiting side frame is in a folded state, the connecting portion is perpendicular to the bottom surface of the load-bearing top frame; The limiting portion is arranged on the connecting portion, the head end of the limiting portion is fixedly connected to the tail end of the connecting portion, the limiting portion is perpendicular to the connecting portion, and when the limiting side frame is in a folded state, the distance between the limiting portion and the load-bearing top frame is not less than the thickness of the cover plate, so as to clamp and fix the cover plate.

7. The track cover transporting automatic guided vehicle according to claim 6, characterized in that: The position-limiting side frame further comprises a guiding slope, which is arranged at the tail end of the position-limiting portion. When the position-limiting side frame is in a folded state, the guiding slope is inclined toward the bottom of the guide trolley.

8. The track cover transporting automatic guided vehicle according to claim 6, characterized in that: The position-limiting side frame further comprises: a plurality of accommodating grooves and a plurality of balls; The plurality of accommodating grooves are provided on the side wall of the connecting portion; The plurality of balls are movably arranged in the inner cavities of the plurality of accommodating grooves, and the balls match the inner shape of the accommodating grooves. The balls protrude from the outer surface of the connecting portion. When the limiting side frame is in a folded state, the plurality of balls abut against the inner side wall of the assembly cavity.

9. The track cover transporting automatic guided vehicle according to claim 1, characterized in that: The transport module includes: a linear module and a winch; The linear module is fixedly arranged on the top wall of the inner cavity of the assembly cavity, and the linear module is arranged along the length direction of the assembly cavity; The winch is fixedly arranged at the execution end of the linear module, and the traction rope of the winch is fixedly connected to the electromagnet.

10. The track cover transporting automatic guided vehicle according to claim 1, characterized in that: It also includes: a controller, several visual cameras and several obstacle avoidance sensors; The controller is arranged inside the guide vehicle, and the controller is electrically connected to the transport module; The plurality of visual cameras are arranged on the top wall of the inner cavity of the assembly cavity, and the plurality of visual cameras are electrically connected to the controller; The plurality of obstacle avoidance sensors are arranged on the guide vehicle, and the plurality of obstacle avoidance sensors are electrically connected to the controller.

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