AGV (Automatic Guided Vehicle) transport trolley

Abstract

The utility model discloses an AGV transport trolley, and relates to the technical field of circuit board production. The AGV transportation trolley comprises a trolley body, a lifting device, a navigation device, a driving device, a control device and a bearing frame, a plurality of movable steering wheels are arranged at the bottom of the trolley body, an anti-collision buffering device and an anti-toppling device are arranged on the periphery of the trolley body, a placing platform is arranged on the surface of the trolley body, and a first conveying belt is arranged on the placing platform; a supporting baffle is arranged on the rear side of the containing platform, and a plurality of telescopic stop levers are arranged on the left side, the right side and the front side of the containing platform correspondingly. The lifting device is arranged at the bottom of the placing platform; the control device is electrically connected with the lifting device, the navigation device, the driving device, the anti-collision buffering device and the anti-toppling device. The bearing frame is placed on the first conveying belt. According to the AGV transport trolley, the transport and transfer efficiency of the circuit board can be improved, so that the production efficiency is improved, and the labor cost is reduced.

Description

Technical Field

[0001] This utility model relates to the field of circuit board manufacturing technology, and in particular to an AGV transport vehicle. Background Technology

[0002] The manufacturing process of circuit boards involves many steps. When the equipment for different steps is located in different places, the circuit boards that have completed the previous step are usually placed on a transport trolley, which is then manually pushed to the next step. This method requires high labor costs and is inefficient, which is not conducive to improving the production efficiency of circuit boards. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes an AGV (Automated Guided Vehicle) transport vehicle that can improve the efficiency of transporting and transferring circuit boards.

[0004] According to an embodiment of the present invention, the AGV transport vehicle includes:

[0005] The vehicle body has multiple movable steering wheels at its bottom, and anti-collision buffer devices and anti-tipping devices are installed around its perimeter.

[0006] A placement platform is provided on the surface of the vehicle body, and the placement platform is provided with a first conveyor belt. A support baffle is provided on the rear side of the placement platform, and multiple retractable baffles are provided on the left, right and front sides of the placement platform, respectively.

[0007] A lifting device is installed at the bottom of the placement platform, and the lifting device is used to drive the placement platform to move up and down;

[0008] A navigation device is installed on the vehicle body;

[0009] A drive unit is mounted on the vehicle body and is connected to the moving steering wheel via a transmission.

[0010] A control device is disposed on the vehicle body and is electrically connected to the lifting device, the navigation device, the drive device, the anti-tipping device and the anti-collision buffer device respectively;

[0011] A support frame is placed on the first conveyor belt, and the support frame is used to hold circuit boards.

[0012] According to some embodiments of the present invention, the anti-collision buffer device includes a buffer strip, the buffer strip includes an outer buffer layer and an inner deformation memory layer, and a pressure-sensitive switch is provided inside the buffer strip, the pressure-sensitive switch being electrically connected to the control device.

[0013] According to some embodiments of the present invention, a braking device is provided on the movable steering wheel, and the braking device is electrically connected to the control device.

[0014] According to some embodiments of the present invention, the navigation device includes a magnetic sensor, an inductive coil, a lidar, or a visual sensor.

[0015] According to some embodiments of the present invention, the anti-tipping device includes: a tilt sensor, a flipping drive mechanism, and a support plate. The tilt sensor is used to detect the tilt angle of the vehicle body. The support plate is movably disposed on the side of the vehicle body. The flipping drive mechanism is used to drive the support plate to flip and move.

[0016] According to some embodiments of the present invention, the support frame includes:

[0017] Support base;

[0018] A support backrest is provided, the bottom of which is located at the rear side of the support base. The surface of the support base is used to place the circuit board, and the support backrest is used to support the circuit board.

[0019] According to some embodiments of the present invention, a docking platform is also included, the docking platform comprising:

[0020] An adsorption device is used to adsorb the circuit board on the support frame;

[0021] A flipping device is used to drive the circuit board adsorbed by the adsorption device to flip over.

[0022] A receiving device for receiving the flipped circuit board.

[0023] According to some embodiments of the present invention, the receiving device includes:

[0024] frame;

[0025] A second conveyor belt is disposed on the surface of the frame.

[0026] According to some embodiments of the present invention, the adsorption device includes:

[0027] Multiple suction cups;

[0028] Telescopic component used to drive the suction cup closer to or away from the support frame.

[0029] According to some embodiments of the present invention, the flipping device includes:

[0030] Rotating mechanism;

[0031] A rotating plate is connected to the rotating mechanism. The bottom of the rotating plate is provided with a barb. The rotating mechanism is used to drive the rotating plate to rotate.

[0032] The AGV transport vehicle according to the embodiments of this utility model has at least the following beneficial effects: the vehicle body is navigated by a navigation device, and the moving steering wheels are driven by a drive device to move and turn, so that the AGV transport vehicle can automatically move forward according to a preset path, thereby reducing labor costs and improving the transportation and transfer efficiency of circuit boards; by setting anti-collision buffer devices and anti-tipping devices, the AGV transport vehicle can be prevented from tipping over due to collisions with obstacles; by setting support baffles and baffles, the load-bearing frame on the AGV transport vehicle can be prevented from falling off; by setting a lifting device, the height of the placement platform can be easily adjusted.

[0033] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0034] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0035] Figure 1 This is a schematic diagram of the structure of the AGV transport vehicle according to an embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of the AGV transport trolley and the support frame according to an embodiment of the present utility model;

[0037] Figure 3 This is a schematic diagram of the AGV transport vehicle and docking platform according to an embodiment of the present utility model;

[0038] Figure 4 This is a schematic diagram of the rotating plate in an embodiment of the present invention;

[0039] Vehicle body 100, movable steering wheel 110, anti-collision buffer device 200, anti-tipping device 300, tilting drive mechanism 310, support plate 320, placement platform 400, first conveyor belt 410, support baffle 420, baffle bar 430, bearing frame 500, support base 510, support backrest 520, circuit board 600, docking platform 700, adsorption device 710, tilting device 720, receiving device 730, frame 731, second conveyor belt 732, lifting device 800. Detailed Implementation

[0040] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. The step numbers in the following embodiments are set only for ease of explanation, and there is no limitation on the order between the steps. The execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0041] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They 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. Therefore, they should not be construed as limitations on this utility model.

[0042] The terms "first," "second," "third," and "fourth," etc., used in the specification, claims, and accompanying drawings of this utility model are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0043] In this invention, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0044] The manufacturing process of circuit boards involves many steps. When the equipment for different steps is located in different places, the circuit boards that have completed the previous step are usually placed on a transport trolley, which is then manually pushed to the next step. This method requires high labor costs and is inefficient, which is not conducive to improving the production efficiency of circuit boards.

[0045] To address this, this utility model proposes an AGV transport vehicle. A navigation device guides the vehicle, and a drive device propels the moving steering wheels for movement and steering, enabling the AGV to automatically advance along a pre-set path. This reduces labor costs and improves the efficiency of transporting and transferring circuit boards. By incorporating anti-collision buffers and anti-tipping devices, the AGV can be prevented from tipping over due to collisions with obstacles. Support baffles and barriers prevent the load-bearing frame on the AGV from falling off. A lifting device facilitates adjustment of the placement platform height.

[0046] The following is a reference to the appendix. Figure 1-4 This article provides a detailed description of the AGV transport vehicle according to embodiments of the present invention.

[0047] On the one hand, this utility model embodiment proposes an AGV transport vehicle, such as Figures 1 to 3 As shown, the AGV transport vehicle includes a vehicle body 100, a lifting device 800, a navigation device, a drive device, a control device, and a support frame 500. The bottom of the vehicle body 100 is equipped with multiple movable steering wheels 110. The perimeter of the vehicle body 100 is equipped with a collision buffer device 200 and an anti-tipping device 300. A placement platform 400 is provided on the surface of the vehicle body 100, and the placement platform 400 is equipped with a first conveyor belt 410. A support baffle 420 is provided on the rear side of the placement platform 400. Multiple retractable baffles 430 are provided on the left, right, and front sides of the placement platform 400. The lifting device... A device 800 is installed at the bottom of the placement platform 400, and a lifting device 800 is used to drive the placement platform 400 to lift and lower. A navigation device is installed on the vehicle body 100 and is used to navigate the vehicle body 100. A drive device is installed on the vehicle body 100 and is used to drive the movement and steering of the moving steering wheel 110. A control device is installed on the vehicle body 100 and is electrically connected to the lifting device 800, the navigation device, the drive device, the anti-collision buffer device 200, and the anti-tipping device 300, respectively. A support frame 500 is placed on the first conveyor belt 410 and is used to place the circuit board 600.

[0048] Specifically, in this application, the control device is used to control the operating status of the AGV transport vehicle, including its direction of movement, speed, and path. The navigation device is used to navigate and position the AGV transport vehicle, ensuring it moves along the correct path and preventing it from deviating from the set path and colliding with other equipment. In some embodiments of this application, the navigation device includes a magnetic sensor, an inductor coil, a lidar, or a vision sensor. When the navigation device uses a magnetic sensor, magnetic strips or nails need to be laid on the factory floor. The magnetic sensor detects the magnetic field signal to determine the path. This method is low-cost and has strong anti-interference capabilities, but the path is relatively fixed, making it suitable for scenarios with few path changes. When the navigation device uses an inductor coil, metal wires need to be laid on the ground to form a closed loop. Low-frequency alternating current is passed through the wires to generate a stable electromagnetic field. The inductor coil array detects the difference in magnetic field strength to determine the path. When the navigation device uses a lidar, it scans environmental features (such as reflectors or natural walls) to build a map and locate the vehicle in real time. This method offers high positioning accuracy and eliminates the need for ground markings. When the navigation device uses a visual sensor, it acquires environmental images through a camera and combines them with existing deep learning algorithms to identify paths or dynamically avoid obstacles. In addition to the above methods, the navigation device can also use other existing positioning methods for positioning and send the acquired signals to the control device, so that the control device can control the moving direction and moving path of the moving steering wheel 110 according to the positioning results of the navigation device.

[0049] In some embodiments of this application, the driving device may employ a drive structure such as a drive motor or worm gear to drive the movable steering wheel 110 to move and turn. The control device sends a control signal to the driving device, causing the driving device to drive the movable steering wheel 110 according to the control signal. Figure 3 As shown in this application, the lifting device 800 can employ a folding scissor arm, which is driven to fold or unfold via a hydraulic cylinder or electric push rod, thereby achieving the lifting function and driving the placement platform 400 to rise or fall. It should be noted that the lifting device 800 can also employ other common lifting mechanisms, such as using a motor to drive a lead screw to rotate, thereby vertically raising or lowering the placement platform 400; or using a hydraulic pump or linear motor to directly drive a piston rod to lift the placement platform 400; or other mechanisms. The control device can send control signals to the lifting device 800, causing the lifting device 800 to drive the placement platform 400 to rise or fall, so that the placement platform 400 reaches the desired height.

[0050] like Figure 1As shown, in some embodiments of this application, a collision buffer device 200 is provided around the vehicle body 100, which serves to protect the AGV transport vehicle. Since the AGV transport vehicle is automatically driven, during operation, it may collide with obstacles due to navigation device errors or sudden obstacles in its direction of travel. To prevent excessive impact during collisions that could cause the AGV transport vehicle to tip over or its cargo to fall, the collision buffer device 200 provides a buffering effect. The collision buffer device 200 can be a flexible material collision strip or a frame structure with an internal spring buffer module. In this example, the collision buffer device 200 uses a buffer strip, which includes an outer buffer layer and an inner deformation memory layer. A pressure-sensitive switch is installed inside the buffer strip, and the pressure-sensitive switch is electrically connected to the control device. The buffer layer can be made of flexible rubber, polyurethane, or foam, while the deformation memory layer can have a corrugated or honeycomb structure. It disperses impact energy through geometric deformation and utilizes elastic potential energy to push the material back to its original position. A pressure-sensitive switch detects whether the buffer strip has been impacted, thus indicating whether the AGV has collided. The detected signal is sent to the control device, which then stops the AGV or corrects its route.

[0051] In some embodiments of this application, a braking device (not shown) is provided on the movable steering wheel 110. The braking device is electrically connected to the control device and can be a brake pad or brake, etc., used to control the movable steering wheel 110 to stop rotating. When the control device detects an obstacle ahead or a collision with the AGV transport vehicle, the braking device can apply emergency braking to the movable steering wheel 110, causing the movable steering wheel 1100 to stop moving forward immediately and preventing further collisions.

[0052] like Figure 1 and Figure 2As shown, in some embodiments of this application, an anti-tipping device 300 is also provided around the vehicle body 100. The anti-tipping device 300 can prevent the AGV transport vehicle from tipping over due to a large impact force when a collision occurs, thereby protecting the AGV transport vehicle and the goods it transports. In this example, the anti-tipping device 300 includes: a tilt sensor, a flipping drive mechanism 310, and a support plate 320. The tilt sensor is used to detect the tilt angle of the vehicle body 100, the support plate 320 is movably disposed on the side of the vehicle body 100, and the flipping drive mechanism 310 is used to drive the support plate 320 to flip. Specifically, the tilt sensor is used to detect the tilt angle and tilt direction of the vehicle body 100. If the tilt angle of the vehicle body 100 exceeds a preset angle (such as 30°, 45°, etc.), a signal is sent to the control device. The control device then sends a signal to the corresponding tilting drive mechanism 310 based on the tilt direction of the vehicle body 100. The tilting drive mechanism 310 drives the support plate 320 to tilt and move, so that the support plate 320 contacts the ground, providing support. The reaction force of the support then causes the vehicle body 100 to return to its original position. The tilting drive mechanism 310 can be a hydraulic cylinder, a telescopic rod, or a tilting motor, etc., to drive the support plate 320 to tilt. When the support plate 320 contacts the ground, the hydraulic cylinder continues to apply force, causing the support plate 320 to generate a reaction force on the vehicle body 100, causing the vehicle body 100 to return to its original position. After the vehicle body 100 returns to its original position, the tilting drive mechanism 310 and the support plate 320 also return to their original positions.

[0053] like Figure 1 As shown in some embodiments of this application, a support baffle 420 is provided on the rear side of the placement platform 400, and multiple retractable baffles 430 are provided on the left, right and front sides of the placement platform 400 respectively. When the AGV transport vehicle collides, in order to prevent the carrier frame 500 and circuit board 600 on the placement platform 400 from falling off, the baffles 430 will be stretched, and together with the support baffle 420, they will form a frame that protects the carrier frame 500, thereby protecting the items transported by the AGV transport vehicle.

[0054] like Figure 2As shown, in some embodiments of this application, when loading circuit boards 600, multiple circuit boards 600 are placed together on a support frame 500, and then the support frame 500 is placed on the first conveyor belt 410 of the placement platform 400, so that the AGV transport vehicle can transport the circuit boards 600 to the required position. In this example, the support frame 500 includes a support base 510 and a support backrest 520. The surface of the support base 510 is used to place the circuit boards 600, and the support backrest 520 is used to support the circuit boards 600. When loading circuit boards 600, multiple circuit boards 600 are placed on the support base 510, and the circuit boards 600 are placed against the support backrest 520 to prevent the circuit boards 600 from falling.

[0055] like Figure 3 As shown, in some embodiments of this application, a docking platform 700 is also included, which includes:

[0056] Adsorption device 710 is used to adsorb circuit board 600 on support frame 500;

[0057] The flipping device 720 is used to drive the circuit board 600 on the adsorption device 710 to flip.

[0058] The receiving device 730 is used to receive the flipped circuit board 600.

[0059] Specifically, when the AGV transport vehicle arrives at the docking platform 700, the lifting device 800 adjusts the height of the placement platform 400 according to the height of the docking platform 700 to facilitate alignment between the placement platform 400 and the docking platform 700. Then, the first conveyor belt 410 starts operating, pushing the carrier frame 500 forward, closer to the docking platform 700. When the carrier frame 500 is sufficiently close to the docking platform 700, the suction device 710 starts operating, adsorbing the outermost circuit board 600 on the carrier frame 500. It should be noted that in this example, the suction device 710 includes multiple suction cups and a telescopic component for driving the suction cups closer to or away from the carrier frame 500. Specifically, when the carrier frame 500 approaches the suction device 710 to a certain distance, the telescopic component causes the suction cups to extend a certain distance, so that the suction cups contact the outermost circuit board 600 of the carrier frame 500 and adsorb the circuit board 600. After adsorbing the circuit board 600, the telescopic component then drives the suction cups to return to their original position, thereby removing a circuit board 600 from the carrier frame 500. The telescopic component can be a pneumatic rod or similar device.

[0060] like Figure 3 and Figure 4As shown, in some embodiments of this application, the flipping device 720 includes a rotating mechanism and a rotating plate. The rotating mechanism can be a rotating motor or other transmission mechanism to drive the rotating plate to rotate. The bottom of the rotating plate is provided with a barb. When the suction cup adsorbs the outermost circuit board 600 of the support frame 500 and the telescopic member drives the suction cup to reset, the circuit board 600 adsorbed on the suction cup is just placed on the barb of the rotating plate. After the circuit board 600 is supported by the barb, the suction cup releases the circuit board 600. Subsequently, the rotating mechanism drives the rotating plate to rotate, so that the circuit board 600 changes from vertical to horizontal placement and is placed on the receiving device 730.

[0061] like Figure 3 As shown, in some embodiments of this application and in some embodiments of this utility model, the receiving device 730 includes a frame 732 and a second conveyor belt 731, wherein the second conveyor belt 731 is disposed on the surface of the frame 732. After the flipping device 720 flips the rotating plate, the circuit board 600 is placed on the surface of the second conveyor belt 731, and the circuit board 600 is conveyed to the processing position by the second conveyor belt 731.

[0062] According to the embodiments of the present invention, the AGV transport vehicle 100 is navigated by a navigation device, and the moving steering wheel 110 is driven by a drive device to move and turn, so that the AGV transport vehicle can automatically move forward according to a preset path, thereby reducing labor costs and improving the transportation and transfer efficiency of circuit boards; by setting an anti-collision buffer device 200 and an anti-tipping device 300, the AGV transport vehicle can be prevented from tipping over due to collision with obstacles; by setting a support baffle 420 and a stop bar 430, the support frame 500 and circuit board 600 on the AGV transport vehicle can be prevented from falling off; by setting a lifting device 800, the height of the placement platform 400 can be easily adjusted.

[0063] The above is a detailed description of the preferred embodiments of the present utility model. However, the present utility model is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present utility model. All such equivalent modifications or substitutions are included within the scope defined by the claims of the present utility model.

Claims

1. An AGV transport vehicle, characterized in that, include: The vehicle body has multiple movable steering wheels at its bottom, and anti-collision buffer devices and anti-tipping devices are installed around its perimeter. A placement platform is provided on the surface of the vehicle body, and the placement platform is provided with a first conveyor belt. A support baffle is provided on the rear side of the placement platform, and multiple retractable baffles are provided on the left, right and front sides of the placement platform, respectively. A lifting device is installed at the bottom of the placement platform, and the lifting device is used to drive the placement platform to move up and down; A navigation device is installed on the vehicle body; A drive unit is mounted on the vehicle body and is connected to the moving steering wheel via a transmission. A control device is disposed on the vehicle body and is electrically connected to the lifting device, the navigation device, the drive device, the anti-tipping device and the anti-collision buffer device respectively; A support frame is placed on the first conveyor belt, and the support frame is used to hold circuit boards.

2. The AGV transport vehicle according to claim 1, characterized in that, The anti-collision buffer device includes a buffer strip, which includes an outer buffer layer and an inner deformation memory layer. A pressure-sensitive switch is installed inside the buffer strip, and the pressure-sensitive switch is electrically connected to the control device.

3. The AGV transport vehicle according to claim 1, characterized in that, The movable steering wheel is equipped with a braking device, which is electrically connected to the control device.

4. The AGV transport vehicle according to claim 1, characterized in that, The navigation device includes a magnetic sensor, an inductive coil, a lidar, or a visual sensor.

5. The AGV transport vehicle according to claim 1, characterized in that, The anti-tipping device includes: a tilt sensor, a flipping drive mechanism, and a support plate. The tilt sensor is used to detect the tilt angle of the vehicle body. The support plate is movably disposed on the side of the vehicle body. The flipping drive mechanism is used to drive the support plate to flip and move.

6. The AGV transport vehicle according to claim 1, characterized in that, The support frame includes: Support base; A support backrest is provided, the bottom of which is located at the rear side of the support base. The surface of the support base is used to place the circuit board, and the support backrest is used to support the circuit board.

7. The AGV transport vehicle according to claim 1, characterized in that, It also includes a docking platform, which includes: An adsorption device is used to adsorb the circuit board on the support frame; A flipping device is used to drive the circuit board adsorbed by the adsorption device to flip over. A receiving device for receiving the flipped circuit board.

8. The AGV transport vehicle according to claim 7, characterized in that, The receiving device includes: frame; A second conveyor belt is disposed on the surface of the frame.

9. The AGV transport vehicle according to claim 7, characterized in that, The adsorption device includes: Multiple suction cups; Telescopic component used to drive the suction cup closer to or away from the support frame.

10. The AGV transport vehicle according to claim 7, characterized in that, The flipping device includes: Rotating mechanism; A rotating plate is connected to the rotating mechanism. The bottom of the rotating plate is provided with a barb. The rotating mechanism is used to drive the rotating plate to rotate.

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