Non-stop transfer AGV and automatic transfer system

Abstract

The utility model provides a kind of not stopping to move and load AGV and automatic moving and loading system, it is related to intelligent logistics technical field, solve the technical problem that the existing technology exists AGV fixed-point parking and connecting material, leading to the technical problem of low material conveying efficiency.The not stopping to move and load AGV includes car main body, and car main body is provided with guide rail;At least two groups of electromagnetic module group, in the extension direction of guide rail, it is sequentially arranged in the two sides of guide rail;Permanent-magnetic material box, it is arranged in guide rail, and it is located between adjacent two groups of electromagnetic module group.The utility model is used to provide a kind of not stopping to move and load AGV and automatic moving and loading system, which can complete handover and move and load without stopping, improve conveying efficiency.

Description

Technical Field

[0001] This utility model relates to the field of intelligent logistics technology, and in particular to a non-stop transfer AGV and an automatic transfer system. Background Technology

[0002] Automated Guided Vehicles (AGVs), as core equipment in modern intelligent logistics systems, integrate advanced guidance technologies such as electromagnetic induction, optical recognition, laser positioning, or visual navigation, enabling them to autonomously navigate pre-set paths. These intelligent devices not only possess comprehensive safety protection systems but also integrate diverse transfer functions such as forklifting, roller conveying, and robotic gripping, forming a highly integrated material handling solution. Their outstanding automation and intelligence characteristics completely eliminate reliance on manual driving during operation, fundamentally reducing labor costs for enterprises and avoiding safety risks caused by human error. More importantly, AGV systems can operate 24 / 7, significantly improving material flow efficiency and reducing time losses due to waiting, searching, and handling, thus optimizing overall operating costs. For these reasons, AGV technology has deeply penetrated warehousing and distribution, manufacturing, port hubs, and even industries such as healthcare and electronics, becoming a key force driving the automation upgrade of logistics.

[0003] However, current AGV systems still face significant technical bottlenecks in material handling. Mainstream applications generally employ a fixed-point stopping mode, meaning the AGV must precisely stop at a fixed workstation before it can perform material picking or unloading actions. This mechanism artificially prolongs the cycle time of a single operation, severely restricting the overall pace of material handling, especially in high-frequency, short-distance tasks where efficiency losses are more pronounced. More importantly, frequent acceleration, deceleration, and positioning not only increase energy consumption and reduce energy efficiency but also exacerbate wear and tear on mechanical components such as drive motors and braking systems, indirectly increasing equipment maintenance costs. Furthermore, the fixed-point stopping mode limits the flexibility of path planning, easily leading to path conflicts and waiting in multi-vehicle collaborative operations, further restricting the improvement of the system's overall throughput capacity. These problems have become major obstacles hindering the development of AGV technology towards greater efficiency and intelligence. Utility Model Content

[0004] The purpose of this invention is to provide a non-stop AGV and an automatic transfer system to solve the technical problem of low material conveying efficiency caused by AGVs stopping at fixed points to pick up materials in the prior art. The various technical effects of the preferred technical solutions provided by this invention are detailed below.

[0005] To achieve the above objectives, the present invention provides the following technical solution: The non-stop transfer AGV provided by this utility model includes: The vehicle body, on which guide rails are provided; At least two sets of electromagnetic modules are sequentially arranged on both sides of the guide rail along the extension direction of the guide rail; The permanent magnet bin is located within the guide rail and between two adjacent groups of electromagnetic modules.

[0006] As an optional implementation, along the direction of the guide track, the front and rear magnetic poles of the permanent magnet box are opposite, and the front and rear magnetic poles of the electromagnetic module group are opposite.

[0007] As an optional implementation, the vehicle body is provided with a photoelectric detection component, which is disposed between two adjacent sets of electromagnetic module groups.

[0008] As an optional implementation, the magnetic pole direction of the electromagnetic module group is adjustable.

[0009] As an optional implementation, a support roller is provided on the vehicle body, and the support roller is located at the bottom of the permanent magnet hopper.

[0010] As an optional implementation, the guide rail includes a first rail and a second rail, the first rail and the second rail are arranged in parallel, and the permanent magnet box is arranged between the first rail and the second rail.

[0011] As an optional implementation, the vehicle body is also equipped with a landmark reading component.

[0012] An automated transfer system includes a non-stop transfer AGV as described above.

[0013] As an optional implementation, a connecting conveyor line is included, which is provided with a connecting port for receiving materials conveyed by the non-stop transfer AGV.

[0014] As an optional implementation, the connecting conveyor line is made of aluminum.

[0015] The beneficial effects of this utility model are as follows: The non-stop transfer AGV and automatic transfer system provided by this utility model include a vehicle body, a permanent magnet bin, and at least two sets of electromagnetic modules. The permanent magnet bin is set inside the guide rail, and at least two sets of electromagnetic modules are sequentially arranged on both sides of the guide rail along its extension direction. Through the coordinated action of the permanent magnet bin and the at least two sets of electromagnetic modules distributed along the rail, the permanent magnet bin moves along the rail to the subsequent conveyor line, completing the handover and transfer without stopping. The permanent magnet bin runs under electromagnetic force constraint within the rail, eliminating the risk of derailment or tipping over. Furthermore, the electromagnetic drive has no mechanical contact, resulting in low operating noise and minimal wear. Compared to the traditional stopping transfer mode, the material flow efficiency of this design can be increased by more than 30%, and the overall throughput of the system is significantly increased, making it particularly suitable for high-throughput scenarios such as logistics hubs and sorting centers.

[0016] The non-stop transfer AGV provided by this utility model completely eliminates the waiting time bottleneck caused by the stopping, alignment, loading and unloading of traditional AGVs, realizing the continuous and uninterrupted movement of materials on the production line. By combining permanent magnet bins and at least two sets of electromagnetic modules, material transfer is upgraded from "discrete stopping operation" to "continuous dynamic flow operation". It not only solves the efficiency bottleneck of traditional AGV systems, but also achieves a systemic breakthrough in reliability, flexibility and energy efficiency, providing an efficient and economical solution for modern intelligent logistics and flexible manufacturing. It is especially suitable for high-cycle and high-continuity automated production lines. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the non-stop transfer AGV of Embodiment 1 of this utility model; Figure 2 This is a schematic diagram of the magnetic pole structure of the permanent magnet box and electromagnetic module group in Embodiment 1 of this utility model; Figure 3 This is a schematic diagram of the permanent magnet box and the secondary acceleration magnetic pole structure of the electromagnetic module group in Embodiment 1 of this utility model; Figure 4 This is a schematic diagram of the automatic transfer system of Embodiment 1 of this utility model; Figure 5 This is a structural schematic diagram of Embodiment 2 of this utility model.

[0019] In the picture: 100. Vehicle body; 200. Guide rail; 300. Electromagnetic module group; 400. Permanent magnet feed box; 500, Support roller; 600. Photoelectric detection components; 700. Connecting conveyor line; 710. Connection point. Detailed Implementation

[0020] Please refer to the attached diagram below. Figures 1-5 This document explains the content of this utility model and its differences from existing technologies. The technical solutions (including preferred solutions) of this utility model are further described in detail below through accompanying drawings and examples of optional embodiments. It should be noted that any technical feature or solution in this embodiment is one or more of a variety of optional technical features or solutions. For the sake of brevity, this document cannot exhaustively list all alternative technical features and solutions of this utility model, nor is it convenient to emphasize that each implementation of a technical feature is one of multiple optional implementations. Therefore, those skilled in the art should understand that any technical means provided by this utility model can be replaced, or any two or more technical means or features provided by this utility model can be combined to obtain a new technical solution. No technical feature or solution in this embodiment limits the scope of protection of this utility model. The scope of protection of this utility model should include any alternative technical solutions that can be conceived by those skilled in the art without creative effort, as well as new technical solutions obtained by combining any two or more technical means or features provided by this utility model.

[0021] In the description of this invention, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention 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 invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] This invention provides a non-stop transfer AGV and automatic transfer system that can complete handover and transfer without stopping, thereby improving conveying efficiency.

[0024] The following is combined Figures 1-5 The technical solution provided by this utility model will be described in more detail.

[0025] This utility model provides a non-stop transfer AGV, including: The vehicle body 100 is provided with a guide rail 200. At least two sets of electromagnetic module groups 300 are sequentially arranged on both sides of the guide rail 200 along the extension direction of the guide rail 200; The permanent magnet bin 400 is disposed within the guide rail 200 and located between two adjacent electromagnetic module groups 300.

[0026] The non-stop transfer AGV provided by this utility model includes a vehicle body 100, a permanent magnet material box 400, and at least two sets of electromagnetic module groups 300. The permanent magnet material box 400 is disposed within the guide rail 200, and the at least two sets of electromagnetic module groups 300 are sequentially arranged on both sides of the guide rail 200 along its extension direction. Through the coordinated action of the permanent magnet material box 400 and the at least two sets of electromagnetic module groups 300 distributed along the track, the permanent magnet material box 400 moves along the track to the subsequent conveyor line, completing the handover and transfer without stopping. The permanent magnet material box 400 runs under electromagnetic force constraint within the track, eliminating the risk of derailment or tipping over. Furthermore, the electromagnetic drive has no mechanical contact, resulting in low operating noise and minimal wear. Compared to the traditional stopping transfer mode, the material flow efficiency of this design can be increased by more than 30%, and the overall system throughput is significantly increased, making it particularly suitable for high-throughput scenarios such as logistics hubs and sorting centers.

[0027] Understandably, the non-stop transfer AGV provided by this utility model completely eliminates the waiting time bottleneck caused by the stopping, alignment, loading and unloading of traditional AGVs, realizing the continuous and uninterrupted movement of material flow on the production line. Through the combination of permanent magnet bin 400 and at least two sets of electromagnetic module groups 300, material transfer is upgraded from "discrete stopping operation" to "continuous dynamic flow operation". It not only solves the efficiency bottleneck of traditional AGV system, but also achieves a systemic breakthrough in reliability, flexibility and energy efficiency, providing an efficient and economical solution for modern intelligent logistics and flexible manufacturing. It is particularly suitable for high-cycle and high-continuity automated production lines.

[0028] In some embodiments of this utility model, along the direction of the guide rail 200, the front and rear magnetic poles of the permanent magnet box 400 are opposite, and the front and rear magnetic poles of the electromagnetic module group 300 are opposite.

[0029] In some of the embodiments of this utility model described above, the magnetic poles of the permanent magnet box 400 on the front and rear sides along the direction of the guide rail 200 are opposite, and the magnetic poles of the electromagnetic module group 300 on the front and rear sides are opposite. When the electromagnetic module group 300 is energized to generate an N-S pole magnetic field, the permanent magnet box 400 is accelerated in the magnetic field, thereby causing the permanent magnet box 400 to move along the guide rail 200.

[0030] It is understandable that when the permanent magnet box 400 reaches the electromagnetic module group 300, the electromagnetic module group 300 is instantly energized, and the electromagnetic module group 300 generates an N-S pole magnetic field. The N-S pole magnetic field and the N-S pole of the permanent magnet box 400 form a force of like pole repulsion and unlike pole attraction, driving the permanent magnet box 400 to move.

[0031] It should be noted that when the permanent magnet box 400 is in its initial position within the guide rail, it is located between two adjacent sets of electromagnetic module groups 300. When the first set of electromagnetic module groups 300 is energized, it generates an N / S pole magnetic field. This magnetic field and the N / S pole of the permanent magnet box 400 form a repulsive force, driving the permanent magnet box 400 to move. Simultaneously, the adjacent second set of electromagnetic module groups 300 is also energized, generating an N / S pole magnetic field. This magnetic field and the N / S pole of the permanent magnet box 400 form an attractive force, driving the permanent magnet box 400 to move. Thus, a combined force drives the permanent magnet box 400 to move.

[0032] In some embodiments of this utility model, the magnetic pole direction of the electromagnetic module group 300 is adjustable.

[0033] In some of the embodiments of this utility model described above, by changing the magnetic pole direction of the electromagnetic module group 300, the permanent magnet box 400 can be accelerated twice, thereby increasing the ejection force.

[0034] Understandably, the electromagnetic module group 300 adopts an innovative design with adjustable magnetic pole direction. This function is achieved through precise adjustment of the excitation current phase by the control system, allowing the electromagnetic polarity to dynamically switch between the N and S poles. After the permanent magnet box 400 completes its initial ejection acceleration, the system, based on real-time speed feedback, rapidly reverses the magnetic pole direction of the electromagnetic module group 300 at the critical position where the permanent magnet box 400 is about to leave the electromagnetic action zone.

[0035] At this moment, the permanent magnets built into the permanent magnet bin 400 generate a repulsive effect between the like poles and the reversed electromagnetic field, causing the magnetic field strength to superimpose instantaneously, forming a secondary thrust peak. This "relay" acceleration mechanism allows the permanent magnet bin to gain additional acceleration on top of its original initial velocity, increasing the final ejection velocity by approximately 15%-20% and extending the effective travel distance by more than 30%, significantly enhancing the system's adaptability to scenarios involving large-mass materials or long-distance conveying. The magnetic pole direction adjustment response time is less than 50 milliseconds, ensuring precise and controllable timing of the secondary acceleration, avoiding efficiency losses caused by magnetic field disturbances, and achieving a step-by-step enhancement of ejection force, providing a more flexible and efficient material throwing solution for automatic transfer systems.

[0036] It should be noted that the secondary acceleration process needs to prevent the magnetic poles from generating mutual repulsion and creating resistance.

[0037] In some embodiments of this utility model, a photoelectric detection component 600 is provided on the vehicle body 100, and the photoelectric detection component 600 is disposed between two adjacent sets of electromagnetic module groups 300.

[0038] In some of the embodiments of this utility model described above, by setting up a photoelectric detection component 600, the photoelectric detection component 600 can detect the position of the permanent magnet box 400, thereby achieving more precise control of the electromagnetic module group 300 and realizing the movement of the permanent magnet box 400.

[0039] It should be noted that a precisely arranged photoelectric detection component 600 is installed on the vehicle body 100. Its physical position is cleverly embedded in the geometric center area between two adjacent electromagnetic module groups 300, forming a discrete monitoring network. The photoelectric detection component 600 adopts a through-beam or reflective photoelectric sensor array, with the transmitting and receiving ends symmetrically arranged along the material box's running trajectory. The detection beam is vertically aligned with the side wall or bottom marking area of ​​the permanent magnet material box 400, with a response time of less than 1 millisecond and a detection accuracy of ±2 mm.

[0040] The core function of the photoelectric detection component 600 is to capture the dynamic position information of the permanent magnet hopper 400 in real time. When the permanent magnet hopper 400 slides past the detection point at high speed, the light signal it blocks or reflects is converted into digital pulses. The system calculates the mapping relationship between the pulse timing and the spatial coordinates of the electromagnetic module group 300 to accurately determine the real-time position, speed, and acceleration parameters of the hopper. This feedback data is transmitted to the motion controller in real time, forming the key input variables of the closed-loop feedback system.

[0041] Based on this position feedback, the control system can implement multi-dimensional precise regulation: First, it optimizes the synchronous triggering of the electromagnetic module group 300—activating the corresponding coil only when the hopper enters the effective coupling area of ​​a module, avoiding heat loss caused by ineffective energization; second, it dynamically adjusts the amplitude and frequency of the excitation current, correcting the thrust curve in real time according to the actual speed deviation of the hopper, keeping acceleration fluctuations within 5%; third, it calculates the instantaneous speed through the time difference between adjacent detection points, predicts the timing of the hopper arriving at the next module group, and performs phase compensation in advance to ensure seamless continuous thrust. This closed-loop mechanism of "detection-feedback-regulation" significantly improves the motion stability and endpoint positioning accuracy of the permanent magnet hopper 400, reducing repeatability errors to the millimeter level, while reducing energy consumption by approximately 12%-18%, providing a precise sensing and decision-making basis for the efficient and reliable operation of the automatic transfer system.

[0042] In some embodiments of this utility model, a support roller 500 is provided on the vehicle body 100, and the support roller 500 is located at the bottom of the permanent magnet box 400.

[0043] In some of the embodiments of this utility model described above, by providing a support roller 500 on the vehicle body 100, the permanent magnet hopper 400 can roll on the support roller 500, thereby ensuring that the permanent magnet hopper 400 has a faster ejection speed, ensuring that the permanent magnet hopper 400 moves faster, and shortening the transfer time.

[0044] In some embodiments of this utility model, the guide rail 200 includes a first rail and a second rail, the first rail and the second rail are arranged in parallel, and the permanent magnet box 400 is disposed between the first rail and the second rail.

[0045] In some embodiments of the present invention described above, the guide rail 200 includes a first rail and a second rail arranged in parallel, and the permanent magnet box 400 is disposed between the first rail and the second rail to ensure that the permanent magnet box 400 moves along a predetermined trajectory, thereby ensuring the moving accuracy.

[0046] In some embodiments of this utility model, the vehicle body 100 is also provided with a landmark reading component.

[0047] In some of the embodiments of this utility model described above, the landmark reading component can be used to obtain the landmark location, and more precise control can be achieved based on the landmark location.

[0048] Specifically, when landmark A and landmark B are set, when the landmark reading component reads landmark A, it controls the AGV to decelerate, reducing the AGV speed to 30% of the rated speed, which is usually 0.4m / s in the industry; when the AGV reads landmark B, it triggers the electromagnetic catapult command, and the electromagnetic catapult system starts to work, driving the permanent magnet box 400 to move and complete the transfer.

[0049] This utility model provides an automatic transfer system, including the non-stop transfer AGV as described above.

[0050] The automatic transfer system provided by this utility model includes a non-stop transfer AGV as described above, comprising a vehicle body 100, a permanent magnet material box 400, and at least two sets of electromagnetic module groups 300. The permanent magnet material box 400 is disposed within the guide rail 200, and the at least two sets of electromagnetic module groups 300 are sequentially arranged on both sides of the guide rail 200 along its extension direction. Through the coordinated action of the permanent magnet material box 400 and the at least two sets of electromagnetic module groups 300 distributed along the track, the permanent magnet material box 400 moves along the track to the subsequent conveyor line, completing the handover and transfer without stopping. The permanent magnet material box 400 operates under electromagnetic force constraint within the track, eliminating the risk of derailment or tipping over. Furthermore, the electromagnetic drive has no mechanical contact, resulting in low operating noise and minimal wear.

[0051] Specifically, the automated transfer system includes logistics hubs, sorting centers, four-way parking garages, etc.

[0052] In some embodiments of this utility model, the automatic transfer system includes a connecting conveyor line 700, which is provided with a connecting port 710 for receiving materials conveyed by the non-stop transfer AGV.

[0053] In some of the embodiments of the present invention described above, the automatic transfer system includes a connecting conveyor line 700, which is used to receive the materials transported by the non-stop transfer AGV and complete the subsequent transport of the materials.

[0054] The 710 connector is specifically designed to receive materials transported by non-stop transfer AGVs. "Non-stop transfer" means that the AGV completes the unloading of materials while maintaining a low speed, without needing to stop and wait.

[0055] Example 1: The non-stop transfer AGV provided by this utility model includes: The vehicle body 100 is provided with a guide rail 200. Two sets of electromagnetic module groups 300 are sequentially arranged on both sides of the guide rail 200 along the extension direction of the guide rail 200; The permanent magnet bin 400 is disposed within the guide rail 200 and located between two adjacent electromagnetic module groups 300; A support roller 500 is located at the bottom of the permanent magnet hopper 400; A photoelectric detection component 600 is disposed between the two sets of electromagnetic modules; The control system includes the photoelectric detection component 600, the electromagnetic module group 300, and the vehicle body 100, all of which are connected to the control system.

[0056] Furthermore, along the direction of the guide rail 200, the magnetic poles on the front and rear sides of the permanent magnet box 400 are opposite, and the magnetic poles on the front and rear sides of the electromagnetic module group 300 are opposite.

[0057] Specifically, the permanent magnet box 400 has an S pole on the front and an N pole on the rear, the electromagnetic module group 300 on the front has an S pole on the front and an N pole on the rear, and the electromagnetic module group 300 on the rear has an N pole on the front and an S pole on the rear.

[0058] The launching process of the non-stop transfer AGV provided by this utility model is as follows: The front electromagnetic module group 300 and the rear electromagnetic module group 300 are energized simultaneously. The rear electromagnetic module group 300 and the permanent magnet box 400 form a repulsion between their like poles, driving the permanent magnet box 400 to move forward. The front electromagnetic module group 300 and the permanent magnet box 400 form an attraction between their opposite poles, driving the permanent magnet box 400 to move forward, thus forming a resultant force to propel the permanent magnet box 400. When the photoelectric detection component 600 detects the permanent magnet box 400, the front electromagnetic module group 300 changes the direction of the current, and the direction of the magnetic poles changes, thus performing a secondary acceleration and driving the permanent magnet box 400 to continue moving forward.

[0059] This utility model provides an automatic transfer system, including a connecting conveyor line 700 and a non-stop transfer AGV as described above. The connecting conveyor line 700 is provided with a connecting port 710, which is used to receive the materials conveyed by the non-stop transfer AGV.

[0060] Example 2: The difference between this embodiment 2 and embodiment 1 is that the electromagnetic module group 300 is provided with four groups.

[0061] In the description of this specification, references to terms such as "example," "embodiment," or "some embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0062] Of course, the present invention is not limited to the above-described embodiments. Those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A non-stop transfer AGV, characterized in that, include: The vehicle body, on which guide rails are provided; At least two sets of electromagnetic module groups are sequentially arranged on both sides of the guide rail along the extension direction of the guide rail; The permanent magnet bin is located within the guide rail and between two adjacent groups of electromagnetic modules.

2. The non-stop transfer AGV according to claim 1, characterized in that, Along the direction of the guide track, the magnetic poles on the front and rear sides of the permanent magnet box are opposite, and the magnetic poles on the front and rear sides of the electromagnetic module group are also opposite.

3. The non-stop transfer AGV according to claim 1, characterized in that, The vehicle body is equipped with a photoelectric detection component, which is positioned between two adjacent groups of electromagnetic modules.

4. The non-stop transfer AGV according to claim 1, characterized in that, The magnetic pole direction of the electromagnetic module group is adjustable.

5. The non-stop transfer AGV according to claim 1, characterized in that, The vehicle body is equipped with a support roller, which is located at the bottom of the permanent magnet hopper.

6. The non-stop transfer AGV according to claim 1, characterized in that, The guide rail includes a first rail and a second rail, which are arranged in parallel, and the permanent magnet hopper is disposed between the first rail and the second rail.

7. The non-stop transfer AGV according to claim 1, characterized in that, The vehicle body is also equipped with a landmark reading component.

8. An automatic transfer system, characterized in that, Including the non-stop transfer AGV as described in any one of claims 1-7.

9. The automatic transfer system according to claim 8, characterized in that, It includes a connecting conveyor line, which is equipped with a connecting port for receiving materials conveyed by the non-stop transfer AGV.

10. The automatic transfer system according to claim 9, characterized in that, The connecting conveyor line is made of aluminum.

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