Gray cloth carrying AGV equipment

Abstract

A gray cloth carrying AGV device comprises a frame body, the frame body comprises a lower frame and an upper frame fixedly mounted on the lower frame, a first partition plate, a second partition plate and a third partition plate are sequentially arranged in the upper frame from front to back at intervals, and a plurality of mounting cavities are sequentially formed between the first partition plate, the second partition plate and the third partition plate and the upper frame from front to back; mounting cover plates are correspondingly arranged at the tops of the mounting cavities respectively, a first accommodating groove is formed in the outer wall of any horizontal diagonal side of the upper frame, and cameras are arranged on the outer walls of the front side and the rear side of the upper frame; and a transportation assembly, a steering wheel assembly, an electric control box assembly, a battery tool assembly, a laser navigation assembly and a laser obstacle avoidance assembly are further arranged. By adopting the steering wheel assembly, the battery assembly, the laser navigation assembly and the laser obstacle avoidance assembly, the navigation precision is improved, and the transportation is accurate. The use cost and the maintenance cost are reduced, the user experience is improved, element sinking protection is arranged, yarn is prevented from being wound around the chassis, a vehicle body is prevented from dust, and isolation protection is arranged on elements in equipment.

Description

Technical Field

[0001] This utility model is an AGV device for handling greige fabric, belonging to the field of greige fabric handling technology. Background Technology

[0002] AGVs, or Automated Guided Vehicles, are transportation devices that autonomously plan routes and move automatically through electromagnetic, optical, or other automated guidance systems. They are characterized by high automation, intelligence, and flexibility. In the textile industry's production and transportation systems, the application of AGVs can significantly improve production efficiency and reduce labor costs. During production, various materials typically need to be transferred, such as yarn, greige fabric, etc. Taking greige fabric handling as an example, the greige fabric produced by the warp knitting machine needs to be transported to the greige fabric conveyor belt on the same floor and then conveyed to the inspection area. In a production scenario, greige fabric AGVs need to perform the following transportation functions:

[0003] (1) The AGV arrives at the warp knitting machine and connects with the fabric rolling machine. The loading of the greige fabric onto the AGV is completed manually.

[0004] (2) The AGV transports the fabric to the interface of the fabric receiving conveyor belt and automatically completes the fabric delivery.

[0005] Therefore, based on the above functional requirements, it is particularly important to design a fabric handling AGV device according to this utility model. Utility Model Content

[0006] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a fabric handling AGV device to solve the problems mentioned above.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a fabric handling AGV device, comprising:

[0008] The frame body includes a lower frame and an upper frame fixedly mounted on the lower frame. The upper frame has a first partition, a second partition, and a third partition arranged sequentially from front to back. The three partitions and the upper frame form a number of mounting chambers sequentially from front to back. The top of each mounting chamber is provided with a mounting cover plate. The outer wall of any horizontal diagonal side of the upper frame is provided with a first receiving groove.

[0009] The upper frame is equipped with cameras on both the front and rear outer walls for the natural navigation of the AGV equipment. The top of the upper frame is equipped with a transport component. The mounting chamber is equipped with a steering wheel component, an electrical control box component, and a battery tooling component in sequence. The outer wall of the upper frame is also equipped with a laser navigation component and a laser obstacle avoidance component for controlling the precise navigation of the AGV equipment.

[0010] The steering wheel assembly, the electrical control box assembly, and the battery tooling assembly are fixedly installed in the installation chamber from front to back. The three work together to assist in driving the AGV equipment to complete the transportation and transfer of production materials in the production scene.

[0011] Furthermore, during the handling of production materials, the electrical control box assembly receives navigation information from the laser navigation assembly to control the steering wheel assembly to move along the navigation path, and uses the laser obstacle avoidance assembly to detect obstacles and optimize the travel path. Finally, the transport assembly docks to complete the handling of production materials.

[0012] Furthermore, the outer walls on the left and right sides of the upper frame are provided with maintenance covers for repairing battery tooling components and drivers, as well as several emergency buttons for emergency handling. The lower frame extends downwards to form a protective chamber at the bottom to protect the components inside the equipment. Several reinforcing plates and shock-absorbing wheels are horizontally arranged inside the protective chamber to improve the strength of the equipment and its stability during movement. The shock-absorbing wheels are distributed on both sides of the reinforcing plates, and the reinforcing plates are equipped with anti-static drag straps.

[0013] Furthermore, the transport assembly includes symmetrically arranged conveyor frames, with support plates fixedly installed between the conveyor frames. Each conveyor frame has a drive roller at both its front and rear ends, and a conveyor belt connected to the drive roller. A baffle is provided at the top of each conveyor frame to prevent it from falling. Several fixing components are provided on both sides of each conveyor frame and are fixedly connected to a mounting cover plate via these fixing components. The transport assembly is used to transfer production materials via a conveyor belt. A photoelectric sensor is provided on any side of the transport assembly and fixedly connected to the mounting cover plate. The photoelectric sensor is used to sense the conveying status of production materials.

[0014] Furthermore, the first partition, the second partition, and the third partition are all horizontally provided with partition reinforcing ribs on both sides of the top for reinforcing the equipment, and the mounting cover is fixedly connected to the upper frame through the partition reinforcing ribs.

[0015] Furthermore, the steering wheel assembly includes a first steering wheel and a second steering wheel installed diagonally in different mounting chambers, and a driver for driving the AGV device to move.

[0016] Furthermore, a steering wheel support plate is vertically provided in the mounting chamber on both the front and rear sides, and a steering wheel fixing plate is horizontally provided on the top of the steering wheel support plate. The steering wheel support plate divides the mounting chamber into a first chamber and a second chamber. The driver is installed in the first chamber, and the steering wheel assembly is installed in the second chamber through the steering wheel fixing plate. Dustproof protective coils are provided at the bottom of the mounting chamber and on the steering wheel support plate to prevent external dust particles from entering and damaging the equipment components.

[0017] Furthermore, the laser navigation component includes a first navigation laser radar and a second navigation laser radar disposed at the front and rear within the first accommodating slot, for precise navigation of the AGV equipment during its movement;

[0018] The laser obstacle avoidance component includes a first laser obstacle avoidance radar and a second laser obstacle avoidance radar located on the outer wall of the upper frame opposite to the first receiving slot, which are used to detect and avoid obstacles during the movement of the AGV equipment.

[0019] Furthermore, the electrical control box assembly includes a base plate and an electrical control box module mounted on the base plate. The electrical control box module is surrounded by electrical control box side plates, and the electrical control box side plates are provided with dustproof protective coils to protect the electrical control box module.

[0020] Furthermore, dustproof protective coils are provided on the first, second, and third partitions for dust prevention between the various chambers inside the equipment.

[0021] The beneficial effects of this utility model are as follows: This utility model adopts a steering wheel assembly, a battery assembly, a laser navigation assembly, and a laser obstacle avoidance assembly to improve navigation accuracy and ensure precise transportation. This design greatly reduces usage and maintenance costs, providing users with a more cost-effective user experience. It also features component sinking protection to prevent yarn from tangling with the chassis and body dust, and provides isolation protection for internal components to prevent damage. Attached Figure Description

[0022] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0023] Figure 1 This is a schematic diagram of the overall structure of the fabric handling AGV equipment according to an embodiment of the present utility model;

[0024] Figure 2 This is a schematic diagram of the frame structure of the fabric handling AGV equipment according to an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram showing the equipment component arrangement of the fabric handling AGV equipment according to an embodiment of the present utility model;

[0026] Figure 4 This is a schematic diagram of the lower frame structure of the fabric handling AGV equipment according to an embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram of the conveying component structure of the fabric handling AGV equipment according to an embodiment of the present utility model;

[0028] Figure 6 This is a schematic diagram of the photoelectric sensor setup for the fabric handling AGV equipment according to an embodiment of the present invention.

[0029] Figure 7 A schematic diagram of the steering wheel assembly of the fabric handling AGV device in this embodiment of the present utility model;

[0030] Figure 8 This is a schematic diagram showing the dustproof coil setting of the fabric handling AGV equipment according to an embodiment of the present utility model;

[0031] Figure 9 This is a schematic diagram of the dustproof coil setting of the fabric handling AGV equipment according to another embodiment of the present invention.

[0032] Key reference numerals in the attached drawings: 1. Chassis body; 11. Lower frame; 12. Upper frame; 121. Protective chamber; 122. Shock-absorbing wheel; 13. First partition; 14. Second partition; 15. Third partition; 16. Mounting chamber; 17. Mounting cover; 18. First receiving slot; 19. Camera; 2. Transport assembly; 21. Conveyor frame; 22. Support plate; 23. Drive roller; 24. Conveyor belt; 25. Baffle; 26. Fixture; 27. Photoelectric sensor; 3. Steering wheel assembly; 31. First steering wheel; 32. Second steering wheel; 33. Driver; 4. Electrical control box assembly; 41. Base plate; 42. Electrical control box module; 43. Electrical control box side plate; 100. Maintenance cover plate; 101. Emergency button; 102. Reinforcing plate; 103. Partition reinforcing rib; 161. Steering wheel support plate; 162. Steering wheel fixing plate; 163. First chamber; 164. Second chamber; 5. Battery tooling assembly; 6. Laser navigation assembly; 61. First laser navigation radar; 62. Second laser navigation radar; 7. Laser obstacle avoidance assembly; 71. First laser obstacle avoidance radar; 72. Second laser obstacle avoidance radar; 81. Dustproof coil protector. Detailed Implementation

[0033] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0034] Example 1

[0035] Figure 1 This is a schematic diagram of the overall structure of the fabric handling AGV equipment according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the frame structure of the fabric handling AGV equipment according to an embodiment of this utility model. Figure 3 This is a schematic diagram showing the equipment component arrangement of the fabric handling AGV equipment according to an embodiment of the present invention.

[0036] like Figure 1 , Figure 2 and Figure 3 As shown, the structure of the fabric handling AGV device according to an embodiment of the present invention will be described in detail.

[0037] The AGV equipment for transporting raw fabric according to an embodiment of the present utility model includes a frame body 1, which includes a lower frame 11 and an upper frame 12 fixedly installed on the lower frame 11. The upper frame 12 is provided with a first partition 13, a second partition 14 and a third partition 15 arranged sequentially from front to back. The three partitions and the upper frame 12 form a plurality of installation chambers 16 from front to back. The top of each installation chamber 16 is provided with an installation cover plate 17. The outer wall of any horizontal diagonal side of the upper frame 12 is provided with a first receiving groove 18.

[0038] The upper frame 12 is equipped with cameras 19 on both the front and rear outer walls for the natural navigation of the AGV equipment. The top of the upper frame 12 is equipped with a transport component 2. The mounting chamber 16 is equipped with a steering wheel component 3, an electrical control box component 4, and a battery tooling component 5 in sequence. The outer wall of the upper frame 12 is also equipped with a laser navigation component 6 and a laser obstacle avoidance component 7 for controlling the precise navigation of the AGV equipment.

[0039] The steering wheel assembly 3, the electrical control box assembly 4, and the battery tooling assembly are fixedly installed in the installation chamber 16 from front to back. The three work together to assist in driving the AGV equipment to complete the transportation and transfer of production materials in the production scene.

[0040] To achieve the function of transporting production materials, there are usually various production materials that need to be transported in the textile field, such as yarn, greige fabric, etc. In this embodiment, greige fabric is mainly used as an example, but this application is not limited to the transport of other production materials. When the greige fabric is transported, the electrical control box assembly 4 receives navigation information from the laser navigation assembly 6 and controls the steering wheel assembly 3 to move on the navigation path. Combined with the natural navigation of the camera 19, a hybrid navigation method is formed. The dual laser method is used to increase the collection of feature points and improve the navigation accuracy. The laser obstacle avoidance assembly 7 performs obstacle detection to optimize the travel path and avoid material accumulation, AGV body length, etc. in the running path. Finally, the transport assembly 2 docks to complete the transport of the greige fabric.

[0041] Figure 4 This is a schematic diagram of the lower frame structure of the fabric handling AGV equipment according to an embodiment of the present invention, as shown below. Figure 4 As shown, the structure of the lower frame according to an embodiment of the present invention will be described in detail.

[0042] To prevent equipment damage, the outer walls of the left and right sides of the upper frame 12 are provided with maintenance covers 100 for repairing the battery tooling assembly 4 and the driver 33, facilitating regular maintenance by maintenance personnel (maintenance frequency < once a month), and several emergency buttons 101 for emergency handling to deal with emergency braking of the equipment in case of emergency. The lower frame 11 extends downwards at the bottom to form a protective chamber 121 for protecting the components inside the equipment. This not only prevents yarn from getting tangled in the chassis but also prevents dust particles from entering. Several reinforcing plates 102 and shock-absorbing wheels 122 are horizontally arranged inside the protective chamber 121 to improve the strength of the equipment and the stability during movement. The shock-absorbing wheels 122 are distributed sequentially on both sides of the reinforcing plates 102. The reinforcing plates 102 are equipped with anti-static straps to prevent static electricity generated during the movement of the AGV equipment.

[0043] Figure 5 This is a schematic diagram of the conveying component structure of the fabric handling AGV equipment according to an embodiment of the present invention, as shown below. Figure 5 As shown, the structure of the conveying assembly according to an embodiment of the present invention will be described in detail.

[0044] To facilitate the transport of the fabric, the transport assembly 2 is used to connect with the fabric conveyor belt for fabric transfer. It includes symmetrically arranged conveyor frames 21, with support plates 22 fixedly installed between the conveyor frames 21. The front and rear ends of the conveyor frames 21 are equipped with drive rollers 23 and conveyor belts 24 that are connected to the drive rollers 23. The top of the conveyor frames 21 is equipped with baffles 25 to prevent falling. Several fixing parts 26 are provided on both sides of the conveyor frames 21 and are fixedly connected to the mounting cover plate 17 through the fixing parts 26. The transport assembly 2 can transport up to two rolls of fabric at the same time, with each roll weighing ≤100kg.

[0045] Figure 6 This is a schematic diagram of the photoelectric sensor setup for the fabric handling AGV equipment according to an embodiment of the present invention, as shown below. Figure 6 As shown, the setup of the photoelectric sensor according to an embodiment of the present invention will be described in detail.

[0046] In order to sense whether the fabric conveying is completed, a photoelectric sensor 27 is provided on any side of the transport component 2. The photoelectric sensor 27 is fixedly connected to the mounting cover plate 17 and is used to sense the fabric conveying status. When the AGV equipment runs the fabric to the designated docking point, the transport component 2 will transfer the fabric to the docking interface. The photoelectric sensor 27 will automatically determine whether the fabric conveying is completed. When it is detected that the fabric has been conveyed on the conveyor belt 24, the AGV equipment will automatically return to the next fabric transport task.

[0047] To reinforce the equipment, the top sides of the first partition 13, the second partition 14 and the third partition 15 are all provided with horizontal partition reinforcing ribs 103 for reinforcing the equipment. The mounting cover 17 is fixedly connected to the upper frame 12 through the partition reinforcing ribs 103.

[0048] Figure 7 A schematic diagram of the steering wheel assembly of the fabric handling AGV device according to an embodiment of this utility model is shown. Figure 7 As shown, the configuration of the steering wheel assembly according to an embodiment of the present invention will be described in detail.

[0049] In order to drive the equipment to move, the steering wheel assembly 3 includes a first steering wheel 31 and a second steering wheel 32 installed diagonally in different mounting chambers 16, and a driver 33 for driving the two, for driving the AGV equipment to move.

[0050] To drive the steering wheel, a steering wheel support plate 161 is vertically installed in the mounting chambers 16 on both the front and rear sides. A steering wheel fixing plate 162 is horizontally installed on the top of the steering wheel support plate 161. The steering wheel support plate 161 divides the mounting chamber 16 into a first chamber 163 and a second chamber 164. The driver 33 is installed in the first chamber 163, and the steering wheel assembly 3 is installed in the second chamber 164 through the steering wheel fixing plate 162. It adopts a dual steering wheel drive method, with a maximum travel speed of 1m / s and a maximum rotational speed of 0.5rad / s.

[0051] Figure 8 This is a schematic diagram illustrating the dustproof coil setting of the fabric handling AGV equipment according to an embodiment of the present invention. Figure 8 As shown, the dustproof protective coil configuration according to an embodiment of the present invention will be described in detail.

[0052] To prevent external dust particles from entering the equipment, dustproof coils 81 are provided at the bottom of the mounting chamber 16 and on the steering wheel support plate 161 to prevent external dust particles from entering and damaging the equipment components.

[0053] Figure 3 This is a schematic diagram of the equipment component arrangement of the fabric handling AGV equipment according to an embodiment of the present invention, as shown below. Figure 3 As shown, the device component configuration according to an embodiment of the present invention will be described in detail.

[0054] To reduce errors and ensure accurate navigation, the laser navigation component 6 includes a first navigation laser radar 61 and a second navigation laser radar 62 disposed in the first receiving slot 18, which are used for accurate navigation during the fabric transport process of the AGV equipment.

[0055] The laser obstacle avoidance component 7 includes a first laser obstacle avoidance radar 71 and a second laser obstacle avoidance radar 72, which are located on the outer wall of the upper frame 12 opposite to the first receiving slot 18, and are used to detect and avoid obstacles in the process of the AGV equipment moving.

[0056] To protect the electrical control box assembly 4, the electrical control box assembly 4 includes a base plate 41 and an electrical control box module 42 mounted on the base plate 41. The electrical control box module 42 is surrounded by electrical control box side plates 43, and the electrical control box side plates 43 are provided with dustproof protective coils 81 for protecting the electrical control box module 42.

[0057] Example 2

[0058] For the sake of brevity, the parts that are the same as those in other embodiments will not be described again. The main focus is on the structure that is different from other embodiments of this utility model. The difference between Embodiment 2 and Embodiment 1 is that the position of the dustproof protective coil is added.

[0059] Figure 9 This is a schematic diagram of the dustproof coil setting of the fabric handling AGV equipment according to another embodiment of the present invention, as shown below. Figure 9 As shown, the dustproof protective coil configuration according to another embodiment of the present invention will be described in detail.

[0060] To improve the internal protection of the equipment, dustproof coils 81 are provided on the first partition 13, the second partition 14, and the third partition 15. These coils are used to prevent dust from entering the equipment and damaging the components in each chamber. This significantly reduces problems such as short circuits and poor contact caused by dust accumulation and extends the service life of the equipment.

[0061] During use, the AGV automatically docks with the warp knitting machine and transports the fabric to the transport component 2. The AGV uses natural navigation plus laser navigation to move towards the docking point, which improves navigation accuracy. During the journey, the laser obstacle avoidance component 7 automatically detects obstacles such as material accumulation on the path and optimizes the path in real time to prevent collisions. When it reaches the docking point, the AGV automatically docks and transports the fabric to the conveyor. The photoelectric sensor 27 automatically senses that the fabric has been transported and sends a signal. After recognizing that the fabric has been transported, the AGV automatically returns to the next fabric transport task.

[0062] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0063] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A gray goods handling AGV apparatus, characterized by, It includes: The frame body (1) includes a lower frame (11) and an upper frame (12) fixedly installed on the lower frame (11), and the inside of the upper frame (12) is sequentially and spacedly provided with a first partition (13), a second partition (14) and a third partition (15) from front to back, which form a plurality of installation cavities (16) from front to back between the three and the upper frame (12), and the top of each installation cavity (16) is provided with an installation cover plate (17), and the outer wall of any horizontal diagonal side of the upper frame (12) is provided with a first containing groove (18); The outer walls of the front and rear sides of the upper frame (12) are each provided with a camera (19) for natural navigation of the AGV device, the top of the upper frame (12) is provided with a transportation assembly (2), the installation cavities (16) are sequentially provided with a rudder wheel assembly (3), an electric control box assembly (4) and a battery tooling assembly (5), and the outer wall of the upper frame (12) is further provided with a laser navigation assembly (6) and a laser obstacle avoidance assembly (7) for controlling the accurate navigation of the AGV device. Wherein, the rudder wheel assembly (3), the electric control box assembly (4) and the battery tooling assembly (5) are sequentially and fixedly installed in the installation cavities (16) from front to back, and the three cooperate to assist in driving the AGV device to complete the conveying and circulation of production materials in the production scene.

2. The grey fabric handling AGV apparatus according to claim 1, characterized in that: When the production materials are carried, the electric control box assembly (4) receives navigation information from the laser navigation assembly (6) to control the rudder wheel assembly (3) to travel on the navigation path, and the laser obstacle avoidance assembly (7) is used for obstacle detection and optimization of the travel path, and finally the production material carrying is completed by the transportation assembly (2).

3. The grey fabric handling AGV apparatus according to claim 1, characterized in that: The outer walls of the left and right sides of the upper frame (12) are provided with a maintenance cover plate (100) for maintaining the battery tooling assembly (5) and the driver (33), and a plurality of emergency buttons (101) for emergency treatment, the edge of the lower frame (11) extends downward to form a protection cavity (121) at the bottom for protecting the elements in the device, a plurality of reinforcing plates (102) and shock absorbing wheels (122) are horizontally arranged in the protection cavity (121) to improve the strength of the device and the stability during travel, the shock absorbing wheels (122) are sequentially arranged on both sides of the reinforcing plates (102), and the reinforcing plates (102) are provided with anti-static tow belts.

4. The grey fabric handling AGV apparatus according to claim 2, characterized in that: The transportation assembly (2) comprises left-right symmetrical conveying frames (21), support plates (22) are fixedly installed between the conveying frames (21), drive rollers (23) are arranged at the front and rear ends of the conveying frames (21), conveying belts (24) are in transmission connection with the drive rollers (23), the top of each conveying frame (21) is provided with a baffle (25) for preventing falling, a plurality of fixing members (26) are arranged on the two sides of each conveying frame (21) and are fixedly connected with the mounting cover plate (17) through the fixing members (26), the transportation assembly (2) is used for connecting a production material conveying belt and transferring, and photoelectric sensors (27) are arranged on any side of the transportation assembly (2) and are fixedly connected with the mounting cover plate (17), the photoelectric sensors (27) are used for sensing the production material conveying condition.

5. The grey fabric handling AGV apparatus according to claim 1, characterized in that: The top of each of the first partition plate (13), the second partition plate (14) and the third partition plate (15) is provided with partition plate reinforcing ribs (103) for reinforcing the equipment.

6. The grey fabric handling AGV apparatus according to claim 2, characterized in that: The rudder wheel assembly (3) comprises first and second rudder wheels (31) and (32) which are diagonally arranged in different mounting cavities (16) and a driver (33) for driving the first and second rudder wheels (31) and (32) to move.

7. A grey goods handling AGV apparatus according to claim 6, characterised in that: The mounting cavity (16) is vertically provided with a rudder wheel support plate (161), the top of the rudder wheel support plate (161) is horizontally provided with a rudder wheel fixing plate (162), the rudder wheel support plate (161) divides the mounting cavity (16) into a first cavity (163) and a second cavity (164), the driver (33) is arranged in the first cavity (163), the rudder wheel assembly (3) is arranged in the second cavity (164) through the rudder wheel fixing plate (162), and dustproof coil covers (81) are arranged on the bottom of the mounting cavity (16) and the rudder wheel support plate (161) to prevent external dust from entering and damaging the equipment elements.

8. The grey fabric handling AGV apparatus according to claim 2, characterized in that: The laser navigation assembly (6) comprises first and second navigation laser radars (61) and (62) which are arranged in the first accommodating groove (18) and are used for accurate navigation during the movement of the AGV equipment. The laser obstacle avoidance assembly (7) comprises first and second laser obstacle avoidance radars (71) and (72) which are arranged on the other pair of diagonal side walls of the upper frame (12) opposite to the first accommodating groove (18) and are used for detecting and avoiding obstacles during the movement of the AGV equipment.

9. The grey fabric handling AGV apparatus according to claim 2, characterized in that: The electric control box assembly (4) comprises a bottom plate (41) and an electric control box module (42) arranged on the bottom plate (41), the electric control box module (42) is provided with electric control box side plates (43) around, and the electric control box side plates (43) are provided with dustproof coil covers (81) for protecting the electric control box module (42).

10. The grey fabric handling AGV apparatus according to claim 1, characterized in that: The first partition plate (13), the second partition plate (14) and the third partition plate (15) are also provided with dustproof coil covers (81) for dust prevention between the cavities in the equipment.

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