AGV (Automatic Guided Vehicle) for carrying catalyst carrier

Abstract

The utility model relates to an AGV for carrying a catalyst carrier, the AGV comprises a vehicle body and a bearing assembly, the vehicle body comprises a vehicle body and a forking part, the forking part is connected with the vehicle body, and the forking part is used for forking the bearing assembly; the bearing assembly comprises a frame, a bearing plate and a positioning piece, the periphery of the frame is closed and is through in the vertical direction, the positioning piece is used for being matched with the forking piece, and a first through hole is formed in the positioning piece; the bearing plate is arranged on the frame, the bearing plate is an assembly formed by sequentially connecting a plurality of plate single bodies, and second through holes are formed in the plate single bodies; a net-shaped bearing piece is arranged on the bearing plate, a plurality of meshes are formed in the net-shaped bearing piece, and the meshes are communicated with the first through hole and the second through hole. According to the AGV used for carrying the catalyst carrier, when the bearing assembly and the catalyst carrier are roasted, hot air flow sequentially penetrates through the first through holes in the positioning pieces, the second through holes in the bearing plate and meshes of the net-shaped bearing piece from bottom to top and flows to all hole channels of the carrier, and the roasting reliability is guaranteed.

Description

Technical Field

[0001] This utility model relates to an AGV vehicle for transporting catalyst carriers. Background Technology

[0002] The intelligent structured packing catalyst production technology aims to utilize automation, robotics, AI sensors, and digital production tools such as big data and 5G connectivity to create a universal production platform suitable for structured packing catalyst production in the Industry 4.0 era. It features special design and optimization to provide a fully automated, high-precision, and highly reliable production system. This system should be adaptable to the demands of multi-batch, high-volume catalyst production, while also being suitable for rapid changeovers to meet the production needs of various catalyst products.

[0003] Currently, the catalyst production field employs numerous automated technologies, including slurry preparation systems, coating systems, and drying processes. Each process segment utilizes robots and robotic arms, supplemented by minimal manual operation, to achieve seamless production continuity.

[0004] Calcining furnaces (or roasting ovens) are core production equipment in the catalyst production field. Continuous tunnel calcining furnaces and box-type calcining furnaces are common equipment types. Although continuous tunnel calcining furnaces have high production efficiency and are easy to integrate with automation technology to achieve continuous production, the equipment itself is expensive and occupies a large area, and is not suitable for actual needs where production volume and product specifications change frequently. Box-type calcining furnaces, on the other hand, can effectively utilize vertical space to reduce the footprint, and multiple calcining furnaces can be used in parallel, which not only improves production efficiency but also adapts to different production volumes and product specifications. Furthermore, the user base for box-type calcining furnaces is large, and simply replacing them with continuous tunnel calcining furnaces for the purpose of production automation is not reasonable in terms of return on investment.

[0005] The catalyst carrier has multiple channels inside. Currently, after coating with slurry, the catalyst carrier needs to be transferred to a calcination furnace for heating and drying. This is currently achieved using an AGV (Automated Guided Vehicle) and a support plate. The support plate, mounted on the AGV, supports the catalyst carrier and is a horizontal plate with through holes. The problems are: while hot air from the calcination furnace passes through these holes into the catalyst carrier's internal channels, it cannot reach every single channel, resulting in poor drying and calcination reliability. Furthermore, in the high-temperature calcination furnace (500-800 degrees Celsius), the support plate expands due to the impact of the hot air. Additionally, the existing support plate, being a single piece, is prone to arching due to thermal expansion and contraction in the furnace, negatively impacting catalyst carrier handling, resulting in a short lifespan and poor calcination reliability. Utility Model Content

[0006] The purpose of this invention is to provide an AGV vehicle for transporting catalyst carriers.

[0007] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0008] An AGV vehicle for transporting catalyst carriers, the AGV vehicle includes a vehicle body and a support assembly, the vehicle body includes a vehicle body and a forklift, the forklift is connected to the vehicle body, and the forklift is used to fork the support assembly.

[0009] The supporting assembly includes a frame, a supporting plate, and a positioning member. The frame is surrounded on all four sides and extends vertically. The positioning member is disposed within the frame and is used to cooperate with the forklift member. The positioning member has a first through hole that extends through the upper and lower sides of the positioning member. The supporting plate is disposed on the frame and is an assembly composed of multiple individual plate units connected sequentially. Each individual plate unit has a second through hole that extends through the upper and lower sides of the individual plate unit.

[0010] The support plate is provided with a mesh support for supporting the catalyst carrier on the side away from the positioning member. The mesh support has multiple mesh holes, which are connected to the first through hole and the second through hole.

[0011] According to some embodiments of this utility model, the mesh support member is a wire mesh.

[0012] According to some embodiments of this utility model, the wire mesh is a woven structure, which includes multiple horizontally arranged horizontal strips and multiple vertically arranged vertical strips, wherein the horizontal strips and vertical strips are arranged in an up-down pattern.

[0013] According to some embodiments of this utility model, a plurality of the aforementioned plate units are connected sequentially along a first direction.

[0014] According to some embodiments of this utility model, two adjacent plate units are connected by a connector, the connector is located inside the frame, both ends of the connector are connected to the frame, the connector is disposed on the positioning member, and the connector is provided with a receiving groove for accommodating the side portions of two adjacent plate units, the connector extends along a second direction, and the first direction is perpendicular to the second direction.

[0015] The connecting member includes a base plate, a first plate, and a second plate. The first plate and the second plate are both disposed on the same side of the base plate and are perpendicular to the base plate. The receiving groove is formed between the first plate, the base plate, and the second plate.

[0016] According to some embodiments of this utility model, the positioning member is provided with a positioning groove that cooperates with the forklift member. The positioning member includes a horizontal plate, a first longitudinal plate, and a second longitudinal plate. The first longitudinal plate and the second longitudinal plate are both disposed on the same side of the horizontal plate and are perpendicular to the horizontal plate. The positioning groove is formed between the first longitudinal plate, the horizontal plate, and the second longitudinal plate, and the opening of the positioning groove is opposite to the opening of the receiving groove. The horizontal plate is opposite to the bottom plate, and the first longitudinal plate and the second longitudinal plate are both disposed on the side of the horizontal plate away from the bottom plate. The first plate and the second plate are both disposed on the side of the bottom plate away from the horizontal plate.

[0017] According to some embodiments of this utility model, the edge of the single panel is provided with a folded edge, the folded edge is perpendicular to the single panel, the folded edges on opposite sides of two adjacent single panels are connected, and the other folded edges of the single panel are connected to the outer periphery of the frame.

[0018] According to some embodiments of this utility model, the AGV vehicle further includes a reinforcing support member, which is connected to the positioning member. The reinforcing support member is disposed within the frame, and both ends of the reinforcing support member are connected to the frame. The reinforcing support member is located below the support plate, and a slot is provided on the reinforcing support member for the positioning member to pass through.

[0019] According to some embodiments of this utility model, the reinforcing support member and the connecting member are arranged in parallel.

[0020] According to some embodiments of this utility model, the vehicle body includes a base, a bracket, an electrical control box, a counterweight, and a lifting drive assembly. The bracket and the electrical control box are both mounted on the base, the counterweight is mounted inside the electrical control box, the lifting drive assembly is connected to the bracket, and the lifting drive assembly is connected to the forklift for driving the forklift to move vertically. The forklift and the electrical control box are located on opposite sides of the bracket.

[0021] According to some embodiments of this utility model, the AGV vehicle further includes a front magnetic navigation sensor, a rear magnetic navigation sensor, and a safety contact edge sensor, all of which are disposed on the lower side of the base.

[0022] Due to the application of the above technical solution, this utility model has the following advantages compared with the prior art:

[0023] The AGV vehicle for transporting catalyst carriers provided by this utility model, by setting up a support plate, positioning components, and a mesh support component, allows hot air to flow from bottom to top through the first through hole on the positioning component, the second through hole on the support plate, and the mesh of the mesh support component to the lower surface of the catalyst carrier when the support assembly and the catalyst carrier enter the high-temperature calcination furnace. The hot air can take into account every channel of the catalyst carrier, ensuring the reliability of calcination; it also limits thermal expansion to a very small range, so as not to affect the recycling of the support assembly and not to have an adverse effect on the transport of the catalyst carrier. Attached Figure Description

[0024] Appendix Figure 1 A first-view structural diagram of the AGV vehicle for catalyst carrier transport provided by this utility model;

[0025] Appendix Figure 2 A second-view structural diagram of the AGV vehicle for catalyst carrier transport provided by this utility model;

[0026] Appendix Figure 3 A structural diagram of an AGV vehicle for transporting catalyst carriers provided by this utility model;

[0027] Appendix Figure 4 Structural diagrams of the AGV vehicle and baking oven for catalyst carrier transport provided by this utility model;

[0028] Appendix Figure 5 The present invention provides a structural diagram of an AGV vehicle for transporting catalyst carriers and a baking oven (the baking oven contains a layer of catalyst carrier);

[0029] Appendix Figure 6 A structural diagram of the support assembly for an AGV vehicle used for catalyst carrier transport provided by this utility model;

[0030] Appendix Figure 7 A side view of the support assembly of the AGV vehicle for transporting catalyst carriers provided by this utility model;

[0031] Appendix Figure 8 A structural diagram of the support assembly (with two plate units) for the AGV vehicle used for catalyst carrier transport provided by this utility model;

[0032] Appendix Figure 9 A structural diagram of the support assembly (with one plate unit) for the AGV vehicle used for catalyst carrier transport provided by this utility model;

[0033] Appendix Figure 10 A structural diagram of the support assembly (without support plate) for an AGV vehicle used for catalyst carrier transport provided by this utility model;

[0034] Appendix Figure 11 Structural diagram of the frame, positioning parts, and connecting parts of the support assembly for the AGV vehicle used for catalyst carrier transport provided by this utility model;

[0035] Appendix Figure 12 A structural diagram of the mesh support component of the AGV vehicle for catalyst carrier transport provided by this utility model;

[0036] Appendix Figure 13 A structural diagram of the positioning component of the support assembly for AGV vehicles used for catalyst carrier transport provided by this utility model;

[0037] Appendix Figure 14 A first-view structural diagram of the reinforcing support member of the AGV vehicle for transporting catalyst carriers provided by this utility model.

[0038] Appendix Figure 15 A second-view structural diagram of the reinforcing support member of the AGV vehicle for transporting catalyst carriers provided by this utility model.

[0039] Appendix Figure 16 A structural diagram of the catalyst carrier supported on the support assembly of the AGV vehicle for catalyst carrier transport provided by this utility model;

[0040] Appendix Figure 17 The magnetic stripe trajectory diagram and workstation diagram of the AGV vehicle used for catalyst carrier transportation provided by this utility model.

[0041] In the attached diagrams above:

[0042] 1-Frame; 2-Supporting plate; 21-Plate unit; 22-Folded edge; 3-Positioning component; 31-Horizontal plate; 32-First longitudinal plate, second longitudinal plate; 4-Mesh bearing component; 5-Connector; 51-Base plate; 52-First plate, second plate; 6-Reinforcing support component; 61-Upright plate; 62-First horizontal plate, second horizontal plate; 63-Slotted; 7-Forklift component; 71-Fork plate; 72-Connecting seat;

[0043] 8-Car body, 81-Base, 82-Bracket, 83-Electrical control box, 84-Counterweight, 85-Servo motor, 86-Lead screw, 87-Nut, 88-Front magnetic navigation sensor, 89-Rear magnetic navigation sensor, 90-Card reader, 91-Universal wheel, 92-Drive wheel, 93-Touch screen; 10-Catalyst carrier; 11-Roasting furnace; 12-Multi-layer trolley. Detailed Implementation

[0044] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0045] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0046] See Figures 1 to 16 The AGV shown is used for transporting catalyst carriers. The AGV includes a vehicle body and a support assembly, wherein:

[0047] The vehicle body includes a vehicle body 8 and a forklift 7. The forklift 7 is connected to the vehicle body 8 and is used to forklift the support assembly. The catalyst carrier 10 is placed on the support assembly. The vehicle body is used to transport the catalyst carrier to the high-temperature roasting furnace 11.

[0048] The supporting components include a frame 1, a support plate 2, and a positioning component 3. The frame 1 is surrounded on all four sides and runs through the top and bottom. The middle part of the frame 1 is a hollow structure. The frame 1 is formed by splicing four support rods in sequence. The support rods can be angle steel.

[0049] Positioning member 3 is disposed within frame 1 and extends along the first direction (X-axis). Positioning member 3 is used to be disposed on forklift member 7 and cooperate with forklift member 7. Positioning member 3 has a first through hole that passes through the upper and lower sides of positioning member 3. Support plate 2 is disposed on frame 1 and located above positioning member 3. Support plate 2 is an assembly composed of multiple plate units 21 connected in sequence. Plate unit 21 has a second through hole that passes through the upper and lower sides of plate unit 21.

[0050] Multiple single-piece plates 21 are connected in sequence. The expansion of each single-piece plate 21 in the roasting furnace 11 is limited. Therefore, when the support plate 2 is in the high-temperature roasting furnace 11, the expansion of the support plate 2 is limited, which avoids the phenomenon of arching in the middle caused by thermal expansion and contraction and improves the reliability of roasting.

[0051] In some embodiments, the support plate 2 is an assembly composed of multiple plate units 21 connected sequentially along a first direction, see [reference]. Figure 8There are three of them in the single-unit plate 21.

[0052] A mesh support 4 is provided on the side of the support plate 2 away from the positioning member 3. The mesh support 4 is used to support the catalyst carrier. The mesh support 4 has multiple mesh holes, which penetrate the upper and lower sides of the mesh support 4. The mesh holes are also connected to the first and second through holes. By setting up the mesh support 4 with mesh holes, the positioning member 3 with the first through hole, and the plate unit 21 with the second through hole, the hot airflow can be guided to enter the internal channels of the catalyst carrier in the high-temperature calcining furnace 11 to the maximum extent, thereby increasing the flow area of ​​the hot airflow, reducing resistance, and improving the reliability of the catalyst carrier calcination.

[0053] In addition, the spacing between two adjacent first through holes on the positioning component 3 is very small, and the spacing between two adjacent second through holes on the plate unit 21 is also very small. This not only reduces processing costs, but also maximizes the flow of hot air in the high-temperature roasting furnace 11, increases the flow area of ​​hot air, and reduces resistance.

[0054] When the support assembly carries the catalyst carrier into the high-temperature calcining furnace 11 for calcination, the hot airflow flows from bottom to top through the first through hole on the positioning component 3, the second through hole on the support plate 2, and the mesh of the mesh support component 4 to the lower surface of the catalyst carrier. This ensures that the hot airflow can reach every pore of the catalyst carrier, guaranteeing the reliability of the calcination. By setting the mesh support component 4, the thermal expansion of the support plate 2 is limited to a very small range, which will not affect the recycling of the support assembly or have an adverse effect on the handling of the catalyst carrier.

[0055] In this example, the mesh support 4 is made of wire mesh, which has a woven structure. The wire mesh includes multiple horizontally arranged strips and multiple vertically arranged strips, with the horizontal and vertical strips arranged in an alternating pattern. The wire mesh has a high coefficient of friction and is wear-resistant, making it less likely for the catalyst carrier placed on it to slip during transportation, thus improving stability during handling.

[0056] In some embodiments, the single panel 21 is a horizontal panel, such as a quadrilateral panel. The four periphery of the single panel 21 is provided with folded edges 22, which are perpendicular to the single panel 21 and extend downward. The folded edges on opposite sides of two adjacent single panels 21 are connected, and the other folded edges of the single panel 21 are located outside the frame 1 and connected to the outer periphery of the frame 1.

[0057] In some embodiments, two adjacent panel units 21 are connected by a connector 5 located inside the frame 1. The opposite ends of the connector 5 are connected to the frame 1 (e.g., by welding). The connector 5 is mounted on the positioning member 3 and has receiving grooves for accommodating the sides of the two adjacent panel units 21. The connector 5 extends along a second direction, with the first direction perpendicular to the second direction. The connector 5 facilitates the connection of adjacent panel units 21, enhances overall strength, and reduces weight.

[0058] See Figure 8 The receiving groove on the connector 5 is used to receive the folded edge 22 on the opposite side of two adjacent plate units 21. The connector 5 includes a base plate 51, a first plate, and a second plate 52. The first plate and the second plate 52 are both located on the same side (upper side) of the base plate 51. The first plate and the second plate 52 are both perpendicular to the base plate 51. The first plate and the second plate 52 extend towards the support plate 2. A receiving groove is formed between the first plate, the base plate 51, and the second plate. A gap can be maintained between the first plate, the second plate 52 and the plate unit 21.

[0059] In some embodiments, multiple connectors 5 are preferably provided (e.g., N), and the multiple connectors 5 are arranged sequentially along the first direction; the multiple connectors 5 divide the middle part of the frame 1 into (N+1) spaces, at which time the number of single board units 21 is (N+1).

[0060] In some embodiments, the positioning member 3 has a positioning groove that mates with the forklift member 7, and the forklift member 7 is engaged in the positioning groove. See [reference needed]. Figure 8 The positioning component 3 includes a horizontal plate 31, a first vertical plate, and a second vertical plate 32. The first vertical plate and the second vertical plate 32 are both located on the same side of the horizontal plate 31 and are perpendicular to the horizontal plate 31. A positioning groove is formed between the first vertical plate, the horizontal plate 31, and the second vertical plate. The horizontal plate 31 is opposite to the bottom plate 51. The first vertical plate and the second vertical plate 32 are both located on the side of the horizontal plate 31 away from the bottom plate 51. The first plate and the second plate 52 are both located on the side of the bottom plate 51 away from the horizontal plate 31. That is, the opening of the positioning groove is opposite to the opening of the receiving groove.

[0061] In some embodiments, multiple positioning elements 3 are provided, and the multiple positioning elements 3 are arranged sequentially along the second direction (Y-axis), see [reference]. Figure 8 There are two positioning components 3. The two positioning components 3 are symmetrically arranged along the center line of the frame 1 (which extends along the first direction) to form the lifting position of the forklift component 7 of the vehicle body, complete the lifting of the supporting component, and position the relative position of the supporting component and the vehicle body.

[0062] Preferably, the AGV vehicle also includes a reinforcing support 6, which is connected to the positioning member 3. The reinforcing support 6 is disposed inside the frame 1, and both ends of the reinforcing support 6 are connected to the frame 1. The reinforcing support 6 is located below the support plate 2, and a slot 63 is provided on the reinforcing support 6 for the positioning member 3 to pass through. The reinforcing support 6 is provided to enhance the structural strength of the support assembly, reduce the weight of the support assembly, and save costs.

[0063] In some embodiments, the reinforcing support 6 is arranged parallel to the connecting member 5, and the reinforcing support 6 extends along the second direction; multiple reinforcing support members 6 are provided, and the multiple reinforcing support members 6 are arranged along the first direction, with a gap maintained between two adjacent reinforcing support members 6; a connecting member 5 is located between two adjacent reinforcing support members 6.

[0064] See Figure 14-15 The reinforcing support 6 includes a vertical plate 61, a first horizontal plate, and a second horizontal plate 62. The vertical plate 61 extends vertically, and the first and second horizontal plates 62 are respectively located at the upper and lower ends of the vertical plate 61. Both the first and second horizontal plates are perpendicular to the vertical plate 61 and are opposite and parallel to each other. Slots are formed on the vertical plate 61 and the second horizontal plate. Alternatively, the first and second horizontal plates of two adjacent reinforcing support 6 may be opposite each other, or the first and second horizontal plates of two adjacent reinforcing support 6 may be far apart.

[0065] The support component in this example is made of high-temperature and corrosion-resistant stainless steel, which is austenitic. When the support component is in a calcination furnace 11 at 500 to 800 degrees Celsius, it will not deform along the direction of gravity and has high strength.

[0066] AGV is an abbreviation for Automated Guided Vehicle, referring to a vehicle equipped with electromagnetic or optical automatic guidance devices. It can travel along a predetermined guided path, possessing safety protection and various transfer functions. AGVs fall under the category of Wheeled Mobile Robots (WMRs). In industrial applications, they are driverless transport vehicles powered by rechargeable batteries. They utilize electromagnetic tracks to establish their travel routes, which are adhered to the floor. The unmanned transport vehicle moves and performs actions according to the information provided by these tracks. AGVs are characterized by wheeled movement, offering advantages over walking, crawling, or other non-wheeled mobile robots, including faster movement, higher efficiency, simpler structure, stronger controllability, and better safety.

[0067] In this example, the vehicle body 8 includes a base 81, a bracket 82, an electrical control box 83, a counterweight 84, and a lifting drive assembly. The bracket 82 and the electrical control box 83 are both mounted on the base 81, adjacent to each other. The counterweight 84 is located inside the electrical control box 83. The lifting drive assembly is connected to the bracket 82 and to the forklift 7, driving the forklift 7 to move vertically. The forklift 7 and the electrical control box 83 are located on opposite sides of the bracket 82. Because the forklift 7 is relatively long, and the weight of the supporting components and catalyst carrier can easily cause the vehicle's center of gravity to shift, a counterweight module is placed inside the electrical control box 83 to ensure the AGV's balance during transport.

[0068] In this example, the AGV used for catalyst carrier transports the support assembly and catalyst carrier to the multi-layer trolley 12, which then enters the calcining furnace 11. The multi-layer trolley 12 has multiple receiving layers, which are arranged sequentially along the height direction of the multi-layer trolley 12. The support assembly and catalyst carrier are placed on each receiving layer through the vehicle body, and the catalyst carrier is neatly arranged on the mesh support member 4 of the support assembly.

[0069] For each layer of the multi-layer trolley 12, the placement height of the supporting components is different, requiring different height adjustments for moving the supporting components. For example, for the multi-layer trolley 12 corresponding to calciner 11, the unloading heights of the supporting components from the first to the fifth layer are 1070mm, 1260mm, 1445mm, 1638mm, and 1826mm, respectively. For the multi-layer trolley 12 corresponding to calciner 21, the taking heights of the supporting components and catalyst carriers from the first to the fifth layer are 1080mm, 1266mm, 1456mm, 1650mm, and 1840mm, respectively.

[0070] In this example, the lifting drive assembly includes a servo motor 85, a lead screw 86, and a nut 87. The servo motor 85 is mounted on the bracket 82 and is connected to the lead screw 86. The nut 87 is also connected to the lead screw 86, and the forklift 7 is connected to the nut 87. Driven by the servo motor 85, the lead screw 86 rotates, causing the nut 87 to move along the axial direction of the lead screw 86, thereby moving the forklift 7 vertically. The forklift 7 can rise to a maximum height of approximately 2 meters and a minimum height of approximately 0.6 meters. The height of the forklift 7 is controlled by the servo motor 85.

[0071] See Figure 1-2 The forklift component 7 includes a fork plate 71 and a connecting seat 72. The connecting seat 72 is connected to a nut 87. The fork plate 71 is connected to the connecting seat 72 and is perpendicular to it. The fork plate 71 is horizontally arranged and parallel to the extension direction of the positioning component 3. Preferably, there are two fork plates 71, which are located at the same height and are arranged opposite to each other and parallel to each other. The length of the fork plate 71 is about 1.2 meters.

[0072] In this example, a wheel assembly is provided on the underside of the base 81. The wheel assembly includes casters 91 and drive wheels 92. Casters 91 are provided at both the front and rear of the base, and the drive wheels 92 are positioned between the two sets of casters 91. Both the drive wheels 92 and the casters 91 are equipped with height-adjustable spring assemblies. The function of the spring assemblies is to adapt to uneven ground, balance the driving force, and prevent the wheels from being suspended in the air.

[0073] In some embodiments, the AGV also includes a front magnetic navigation sensor 88, a rear magnetic navigation sensor 89, and a safety edge sensor, all of which are located on the underside of the base 81. The front magnetic navigation sensor 88 and the rear magnetic navigation sensor 89 are located at the front and rear ends of the lower part of the base 81, respectively. A horizontal magnetic strip is attached to the area where the magnetic strip track needs to rotate. The vehicle first reads the turning point card (belonging to a station sign), and then senses the horizontal magnetic strip before starting to rotate. The front magnetic navigation sensor 88 and the rear magnetic navigation sensor 89 are used to detect the magnetic strip and move along its track, with a detection distance of 0-60mm, the default being 30mm. An RFID reader 90 is used to identify the station sign and locate the position of the vehicle.

[0074] The magnetic strip installation method involves first laying the magnetic strip on the ground, then attaching the station sign at key locations along the magnetic strip, and finally applying strong protective tape or adhesive tape. Solid lines indicate the magnetic strip path, and the numbers on them represent the station sign number. The station sign number is identified by a card reader 90 located directly below the vehicle body 8. Figure 17 In the diagram: Station sign number 2 represents support component position 2, station sign number 3 represents support component position 1, station sign number 6 represents roasting furnace 11, and station sign number 8 represents roasting furnace 21.

[0075] like Figure 17 As shown, a horizontal magnetic strip needs to be attached where the magnetic strip track requires rotation. The vehicle first reads the turning point card, and then senses the horizontal magnetic strip before starting to rotate. Figure 17 The station signs numbered 202, 203, 206, and 208 are all corner point cards, and each has a horizontal magnetic stripe on its left side.

[0076] When the vehicle body is positioned on the magnetic strip, the touchscreen 93 displays the magnetic navigation data from the front magnetic navigation sensor 88 and the rear magnetic navigation sensor 89, as well as the left and right deviations of the front and rear magnetic strips. The left and right deviations of the magnetic strips represent the deviation between the position of the magnetic strip sensed by the vehicle's magnetic navigation sensor and the center. By using these parameters and correcting the deviations, it can be ensured that the magnetic strip position is always centered on the vehicle body.

[0077] The AGV also includes a touch screen 93, which has a parameter setting interface, including (1) main interface; (2) status query interface; (3) parameter setting interface 1; (4) parameter setting interface 3; (5) lifting layer height setting interface; (6) fault query interface; (7) manual operation interface; (8) forklift operation interface; (9) magnetic strip status interface. The vehicle's operating parameters are set and read on the touch screen 93, and functions such as performing tasks, detecting sensor faults, and operating the vehicle locally are executed. The touch screen 93 interacts with the PLC control system in the electrical control box 83.

[0078] The AGV also includes a collision barrier and a lidar sensor. The collision barrier is located behind the vehicle body (8). If the vehicle collides with this safety edge, it will stop immediately. The lidar sensor detects people or obstacles ahead. The detection distance is adjustable, and the preferred speed is 40 meters per minute, with a maximum speed of 50 meters per minute in unmanned workshops. If white or reflective objects near the vehicle's wiring affect operation, the obstacle avoidance point can be closed. The battery needs to be charged once the voltage drops below 36V; otherwise, the battery will quickly deplete. It features collision avoidance, obstacle avoidance, and automatic charging.

[0079] The AGV vehicle used for catalyst carrier handling in this example has a simple structure and is suitable for automatic loading and unloading of multi-layer roasting furnaces, containers, and raw material pallets.

[0080] In this example, the AGV used for catalyst carrier handling allows users to input settings parameters on the touchscreen (input the position, action, and height of target point 1 and target point 2, and the position of temporary point 3). By executing different tasks, clicking the "Download Local Task" button downloads the task to the PLC control system. Clicking the "Start" button starts the AGV operation. The AGV will travel to different workstations and perform different height operations to pick up or place the supporting components and catalyst carrier, enabling unmanned continuous production in the box-type calcining furnace.

[0081] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within the scope of protection of this utility model.

Claims

1. An AGV vehicle for catalyst carrier handling, characterized by, The AGV vehicle comprises a vehicle body and a supporting assembly, the vehicle body comprises a vehicle body and a fork, the fork is connected with the vehicle body, and the fork is used for clamping the supporting assembly; The supporting assembly comprises a frame, a supporting plate and a positioning member, the frame is surrounded by four sides and is penetrated in the up-down direction, the positioning member is arranged in the frame, the positioning member is used for cooperating with the fork, a first through hole is formed in the positioning member, and the first through hole penetrates the upper side and the lower side of the positioning member; the supporting plate is arranged on the frame, the supporting plate is an assembly composed of a plurality of plate units connected in sequence, a second through hole is formed in the plate unit, and the second through hole penetrates the upper side and the lower side of the plate unit; A mesh supporting member for supporting a catalyst carrier is arranged on the side of the supporting plate away from the positioning member, a plurality of mesh holes are formed in the mesh supporting member, and the mesh holes are penetrated by the first through hole and the second through hole.

2. The AGV vehicle for catalyst carrier handling according to claim 1, characterized by, The mesh supporting member is a wire mesh.

3. The AGV vehicle for catalyst carrier handling according to claim 2, wherein The wire mesh has a woven structure, the wire mesh comprises a plurality of horizontal strips arranged in the transverse direction and a plurality of vertical strips arranged in the longitudinal direction, and the horizontal strips and the vertical strips have an upper and lower organization structure.

4. The AGV vehicle for catalyst carrier transportation according to claim 1, wherein a plurality of plate units are connected in sequence along a first direction.

5. The AGV vehicle for catalyst carrier handling according to claim 4, wherein Two adjacent plate units are connected by a connecting piece, the connecting piece is arranged in the frame, opposite ends of the connecting piece are connected with the frame, the connecting piece is arranged on the positioning member, a receiving groove for receiving the side of the two adjacent plate units is formed in the connecting piece, the connecting piece extends along a second direction, and the first direction is perpendicular to the second direction.

6. The AGV vehicle for catalyst carrier handling according to claim 5, wherein A positioning groove matched with the fork is formed in the positioning member, the positioning member comprises a horizontal plate, a first vertical plate and a second vertical plate, the first vertical plate and the second vertical plate are arranged on the same side of the horizontal plate, the first vertical plate and the second vertical plate are perpendicular to the horizontal plate, the positioning groove is formed between the first vertical plate, the horizontal plate and the second vertical plate, and the opening of the positioning groove is opposite to the opening of the receiving groove.

7. The AGV vehicle for catalyst carrier handling according to claim 1, wherein The edge of the plate unit is provided with a folded edge, the folded edge is perpendicular to the plate unit, the folded edges on the opposite sides of two adjacent plate units are connected, and the other folded edges of the plate units are connected with the outer periphery of the frame.

8. The AGV vehicle for catalyst carrier handling according to claim 1, characterized by, The AGV vehicle further comprises a reinforcing support, the reinforcing support is connected with the positioning member, the reinforcing support is arranged in the frame, opposite ends of the reinforcing support are connected with the frame, the reinforcing support is arranged below the supporting plate, and a groove is formed in the reinforcing support for the positioning member to pass through.

9. The AGV vehicle for carrying a catalyst carrier according to any one of claims 1 to 8, characterized by The vehicle body comprises a base, a support, an electric control box, a counterweight, a lifting driving assembly, the support and the electric control box are arranged on the base, the counterweight is arranged in the electric control box, the lifting driving assembly is connected with the support, the lifting driving assembly is connected with the fork piece for driving the fork piece to move along the vertical direction, and the fork piece and the electric control box are located on opposite sides of the support respectively.

10. The AGV vehicle for catalyst carrier handling according to claim 9, wherein The AGV vehicle further comprises a front magnetic navigation sensor, a rear magnetic navigation sensor and a safety edge sensor, and the front magnetic navigation sensor, the rear magnetic navigation sensor and the safety edge sensor are arranged on the lower side of the base.

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