Transfer device based on automated guided vehicle

Abstract

The application relates to the material transfer technical field, and discloses a transfer device based on an automatic guided vehicle, which comprises an automatic guided vehicle, a bracket and a loading frame. The bracket is connected with the automatic guided vehicle, and a first positioning structure is arranged on the bracket. The loading frame is detachably connected with the bracket, the loading frame is used for loading materials, and a second positioning structure matched with the first positioning structure is arranged on the loading frame. When the transfer device is used to transfer materials, the materials are loaded on the loading frame. Since the loading frame is connected with the bracket, the connection area is larger relative to the direct connection with the automatic guided vehicle, so that the materials and the loading frame are more stable, the risk of overturning of the materials is reduced, and the second positioning structure is matched with the first positioning structure for connection, the connection stability between the loading frame and the bracket is improved, and the risk of overturning of the materials is further reduced.

Description

Technical Field

[0001] This application relates to the field of material transfer technology, specifically to a transfer device based on an automated guided vehicle. Background Technology

[0002] In various assembly lines, AGVs are often used for material handling. AGVs, or Automated Guided Vehicles, are unmanned automated transportation equipment that move autonomously in the working environment and complete material handling tasks through built-in navigation systems (such as lasers, magnetic strips, vision sensors, etc.).

[0003] Current automated guided vehicle (AGV) material handling methods include front-end traction and submerged carrying. In front-end traction, the material is located at the rear of the AGV, requiring a large turning radius, making it unsuitable for the compact assembly line environment. Therefore, submerged carrying is more widely used. In submerged carrying, the material is directly carried on the AGV. However, the AGV's load-bearing surface is limited, making it prone to tipping over when carrying large or heavy materials.

[0004] Therefore, how to solve or improve the problem of overturning when using automated guided vehicles to transport materials has become an important technical problem for those skilled in the art. Utility Model Content

[0005] In view of this, this application provides a transfer device based on an automated guided vehicle (AGV) to solve the problem of overturning when using an AGV to transfer materials.

[0006] In a first aspect, this application provides a transfer device based on an automated guided vehicle, comprising: Automated Guided Vehicle; A bracket is connected to the automated guided vehicle, and a first positioning structure is provided on the bracket; The loading frame is detachably connected to the bracket. The loading frame is used to load materials, and a second positioning structure is provided on the loading frame to cooperate with the first positioning structure.

[0007] In one alternative implementation, the loading rack includes: The main frame has a bottom that is detachably connected to the bracket, and a top that is used for loading materials. The second positioning structure is located at the bottom of the main frame. A support frame is connected to the bottom of the main frame and is used to support the ground. A receiving space is formed between the bottom of the main frame and the ground, and the receiving space is suitable for the automated guided vehicle to drive into.

[0008] In one alternative implementation, it further includes: A lifting mechanism is provided on the automated guided vehicle. The bracket is connected to the lifting mechanism. The lifting mechanism is used to drive the bracket to rise and fall. When the first positioning structure is located below the second positioning structure, the first positioning structure can rise and cooperate with the second positioning structure.

[0009] In one alternative implementation, it further includes: Location markers are set on the main frame; A position recognition module is disposed on the automated guided vehicle and is used to detect the position of the position marker. The position recognition module is communicatively connected to the automated guided vehicle. The position recognition module can drive the automated guided vehicle to move according to the position of the position marker so that the first positioning structure is located below the second positioning structure.

[0010] In one alternative implementation, it further includes: The bracket has rollers at its bottom, which are used to support the ground.

[0011] In one optional embodiment, the bracket is further provided with a third positioning structure, and the loading frame is provided with a fourth positioning structure that cooperates with the third positioning structure.

[0012] In one optional implementation, one of the first positioning structure and the second positioning structure is configured as a positioning post, and the other is configured as a positioning hole. And / or, one of the third positioning structure and the fourth positioning structure is configured as a positioning post, and the other is configured as a positioning hole.

[0013] In one optional embodiment, multiple third positioning structures and multiple fourth positioning structures are provided, with each fourth positioning structure corresponding to and cooperating with a third positioning structure, and the third positioning structures are arranged in a circular array.

[0014] In one optional embodiment, multiple first positioning structures and multiple second positioning structures are provided, with each second positioning structure corresponding to and cooperating with a first positioning structure, and each first positioning structure is respectively located at a corner of the bracket.

[0015] In one alternative implementation, it further includes: The limiting member is provided on the loading frame, which has a loading surface for carrying materials, and is used to block the materials.

[0016] This application provides a transfer device based on an automated guided vehicle (AGV), including a bracket connected to the AGV, with a first positioning structure on the bracket. A loading frame is detachably connected to the bracket, and the loading frame has a second positioning structure that cooperates with the first positioning structure. Simultaneously, the second positioning structure engages with the first positioning structure when the loading frame is connected to the bracket. During material transfer, the material is loaded onto the loading frame, the loading frame is connected to the bracket, and the second positioning structure engages with the first positioning structure. Then, the AGV moves, thereby moving the bracket, loading frame, and material. Because the loading frame is connected to the bracket, the connection area is larger than when directly connected to the AGV, resulting in greater stability for the material and the loading frame, reducing the risk of material tipping over. Furthermore, the engagement of the second positioning structure with the first positioning structure increases the stability of the connection between the loading frame and the bracket, further reducing the risk of material tipping over. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of this application, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of a transfer device based on an automated guided vehicle (AGV) according to an embodiment of this application, loaded with materials; Figure 2 This is a schematic diagram of a transfer device based on an automated guided vehicle according to an embodiment of this application; Figure 3 This is a top view of an automated guided vehicle with a tray connected to an embodiment of this application; Figure 4 This is an axle view of an automated guided vehicle with a tray connected to an embodiment of this application; Figure 5 This is a front view of an automated guided vehicle (AGV) with a tray connected according to an embodiment of this application. Figure 6 This is a side view of an automated guided vehicle with a tray connected to an embodiment of this application; Figure 7 This is a front view of the automated guided vehicle according to an embodiment of this application.

[0019] Explanation of reference numerals in the attached figures: 1. Automated Guided Vehicle; 101. Screw; 102. Screw Hole; 2. Bracket; 21. First Positioning Structure; 22. Third Positioning Structure; 3. Loading Frame; 301. Main Frame; 302. Support; 4. Material; 5. Position Recognition Module; 6. Roller; 7. Limiting Component; 8. Handle. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] The following is combined Figures 1 to 7 This describes an embodiment of the present application.

[0022] According to embodiments of this application, in one aspect, a transfer device based on an automated guided vehicle (AGV) is provided, such as... Figure 2 and Figure 4 As shown, the system includes an automated guided vehicle (AGV) 1, a bracket 2, and a loading rack 3. The bracket 2 is connected to the AGV 1, allowing the bracket 2 to move with the AGV 1. A first positioning structure 21 is provided on the bracket 2.

[0023] The loading frame 3 is used to load the material 4. The loading frame 3 and the bracket 2 can be detachably connected. The loading frame 3 is provided with a second positioning structure for cooperating with the first positioning structure 21. When the loading frame 3 is connected to the bracket 2, the second positioning structure cooperates with the first positioning structure 21.

[0024] like Figure 1 As shown, when transferring material 4, material 4 is loaded onto the loading frame 3, the loading frame 3 is connected to the bracket 2, and the second positioning structure is engaged with the first positioning structure 21. Then, the automated guided vehicle 1 is moved, thereby moving the bracket 2, the loading frame 3, and the material 4. Since the loading frame 3 is connected to the bracket 2, the connection area is larger than that of the automated guided vehicle 1, making the material 4 and the loading frame 3 more stable and reducing the risk of material 4 tipping over. Moreover, the engagement of the second positioning structure with the first positioning structure 21 increases the stability of the connection between the loading frame 3 and the bracket 2, further reducing the risk of material 4 tipping over.

[0025] In one embodiment, such as Figure 1 and Figure 2 As shown, the loading frame 3 includes a main frame 301 and a support 302. The bottom of the main frame 301 is detachably connected to the bracket 2, and the top of the main frame 301 is used to load the material 4. The support 302 is connected to the bottom of the main frame 301 and is used to support it on the ground. When the main frame 301 is supported on the ground by the support 302, a receiving space is formed between the bottom of the main frame 301 and the ground, which allows the automated guided vehicle 1 to drive into. A second positioning structure is provided at the bottom of the main frame 301.

[0026] When transferring material 4, the main frame 301 is separated from the bracket 2. The main frame 301 is supported on the ground by the bracket 302. After the material 4 is loaded onto the main frame 301, the automated guided vehicle 1 is driven into the receiving space under the main frame 301. Then, the bottom of the main frame 301 is connected to the bracket 2, and the first positioning structure 21 and the second positioning structure are engaged. At this time, the automated guided vehicle 1 can be moved, thereby moving the bracket 2, the loading rack 3, and the material 4.

[0027] With this configuration, when loading material 4, it is not necessary to connect the main frame 301 to the bracket 2 in advance, thereby avoiding a large impact on the automated guided vehicle 1 when loading material 4, which could cause damage to the automated guided vehicle 1.

[0028] In some embodiments, such as Figure 1 and Figure 2 As shown, two supports 302 are provided. The two supports 302 are located on opposite sides of the bottom of the main frame 301. When the main frame 301 is supported on the ground by the supports 302, an accommodating space is formed between the bottom of the main frame 301 and the two supports 302.

[0029] To increase support stability, more brackets can be installed in the 302.

[0030] In one embodiment, the transfer device based on the automated guided vehicle (AGV) further includes a lifting mechanism, which is mounted on the AGV 1. The bracket 2 is connected to the lifting mechanism, and the lifting mechanism can drive the bracket 2 to rise and fall. Thus, when the first positioning structure 21 is located below the second positioning structure, when the lifting mechanism drives the bracket 2 to rise and fall, the first positioning structure 21 can be raised until it engages with the second positioning structure.

[0031] When transferring material 4, the main frame 301 separates from the bracket 2. The main frame 301 is supported on the ground by the support 302. After material 4 is loaded onto the main frame 301, the automated guided vehicle 1 drives into the receiving space below the main frame 301, so that the bracket 2 is located below the main frame 301, and the first positioning structure 21 is located below the second positioning structure. Then, the lifting mechanism drives the bracket 2 to rise until the bracket 2 lifts the main frame 301, causing the support 302 to leave the ground. At this time, the first positioning structure 21 rises with the bracket 2 and connects with the second positioning structure, making the connection more convenient. After that, moving the automated guided vehicle 1 can move the pallet, the main frame 301, and the material 4, realizing the transfer of material 4.

[0032] The lifting mechanism can be a cylinder, which is set vertically. The fixed end of the cylinder is connected to the automated guided vehicle 1, and the bracket 2 is connected to the movable end of the cylinder, so that the movable end of the cylinder can drive the bracket 2 to rise and fall when it extends or retracts.

[0033] To ensure stability, multiple lifting mechanisms can be installed.

[0034] In one embodiment, such as Figure 3 and Figure 4 As shown, the transfer device based on the automated guided vehicle (AGV) also includes a position marker and a position recognition module 5. The position marker is mounted on the main frame 301, and the position recognition module 5 detects the position of the position marker. Since the position of the position marker on the main frame 301 is fixed, when the position recognition module 5 detects the position of the position marker on the main frame 301, the position of the second positioning structure on the main frame 301 can be determined. The position recognition module 5 is mounted on the AGV 1 and is communicatively connected to the AGV 1.

[0035] When transferring material 4, the main frame 301 separates from the bracket 2. The main frame 301 is supported on the ground by the support 302. After material 4 is loaded onto the main frame 301, the automated guided vehicle 1 drives into the receiving space below the main frame 301. At the same time, the position recognition module 5 detects the position of the position marker in real time. When the position recognition module 5 detects the position of the position marker, it determines the position of the second positioning structure on the main frame 301. Then, it controls the automated guided vehicle 1 to move so that the first positioning structure 21 is directly below the second positioning structure, so that the first positioning structure 21 can be positioned and coordinated with the second positioning structure when it rises.

[0036] The location identifier can be an identification code, and correspondingly, the location identification module 5 is a scanning device. The identification code may contain the location information of the second positioning structure.

[0037] The location identifier can also be the object being identified; the location identification module 5 is either a graphic sensor or a position sensor.

[0038] An installation slot can be made on the automated guided vehicle 1, and the position recognition module 5 is installed in the installation slot. A perforation is made on the tray to facilitate the position recognition module 5 to detect the position mark through the perforation.

[0039] In one embodiment, such as Figure 1 and Figure 2 As shown, the transfer device based on the automated guided vehicle (AGV) also includes rollers 6. Rollers 6 are provided at the bottom of the support frame 302, allowing the support frame 302 to be supported on the ground. With this configuration, when the support frame 302 is supported on the ground by the rollers 6, the rolling capacity of the rollers 6 allows the loading frame 3 to be moved directly without the need for the AGV 1, facilitating the transfer of materials 4. It also enables the transfer of materials 4 without relying on the AGV 1.

[0040] When transferring material 4, the main frame 301 and the bracket 2 are separated. The main frame 301 is supported on the ground by the bracket 302 and the rollers 6. After pushing the main frame 301 to the material 4 loading point, the material 4 is loaded onto the main frame 301. The automated guided vehicle 1 drives into the receiving space under the main frame 301, so that the bracket 2 is located below the main frame 301, and the first positioning structure 21 is located below the second positioning structure. Then, the lifting mechanism is used to drive the bracket 2 to rise until the bracket 2 lifts the main frame 301, causing the rollers 6 to leave the ground. At this time, the first positioning structure 21 rises with the bracket 2 and connects with the second positioning structure. Afterwards, the automated guided vehicle 1 is moved to transfer the material 4 to the designated position, and the lifting mechanism is used to drive the bracket 2 to descend, so that the rollers 6 are supported on the ground again, completing the transfer of material 4.

[0041] In some embodiments, such as Figure 1 and Figure 2 As shown, a handle 8 is provided on the main frame 301 to facilitate gripping and pushing the loading frame 3.

[0042] For each bracket 302, two rollers 6 can be set at the bottom of the bracket 302, with the two rollers 6 located on both sides respectively, to provide better support stability.

[0043] To increase stability, more scroll wheels can be added (6).

[0044] In some embodiments, an elastic element is provided between the support 302 and the roller 6. With this arrangement, when the roller 6 is supported on the ground, the impact on the roller 6 is reduced by the elastic buffering effect of the elastic element when the material 4 is loaded onto the main body.

[0045] Alternatively, after the mobile automated guided vehicle 1 transfers the material 4 to the designated location, the lifting mechanism drives the bracket 2 to descend, so that when the roller 6 is supported on the ground again, the elastic buffering effect of the elastic element reduces the impact on the roller 6 after it contacts the ground.

[0046] In one embodiment, such as Figure 3 and Figure 4 As shown, the bracket 2 is also provided with a third positioning structure 22, and the loading frame 3 is provided with a fourth positioning structure. The fourth positioning structure is configured in conjunction with the third positioning structure 22.

[0047] When transferring material 4, material 4 is loaded onto the loading frame 3, which is then connected to the bracket 2. The second positioning structure is connected to the first positioning structure 21, and the fourth positioning structure is connected to the third positioning structure 22. The automated guided vehicle 1 is then moved, thereby moving the bracket 2, the loading frame 3, and the material 4. Because the second positioning structure is connected to the first positioning structure 21, and the fourth positioning structure is connected to the third positioning structure 22, the connection stability between the loading frame 3 and the bracket 2 is further increased, reducing the risk of material 4 tipping over.

[0048] The fourth positioning structure is located at the bottom of the main frame 301, and the bracket 2 is connected to the automated guided vehicle 1 via a lifting mechanism. When transferring material 4, the main frame 301 and bracket 2 are separated. The main frame 301 is supported on the ground by a support 302. After the material 4 is loaded onto the main frame 301, the automated guided vehicle 1 enters the receiving space below the main frame 301, positioning the bracket 2 below the main frame 301, with the first positioning structure 21 below the second positioning structure and the third positioning structure 22 below the fourth positioning structure. Then, the lifting mechanism drives the bracket 2 upwards until it lifts the main frame 301, causing the support 302 to leave the ground. At this point, the first positioning structure 21 rises with the bracket 2 and connects with the second positioning structure, and the third positioning structure 22 rises with the bracket 2 and connects with the fourth positioning structure, making the connection more convenient.

[0049] In one embodiment, one of the first positioning structure 21 and the second positioning structure is configured as a positioning post, and the other is configured as a positioning hole. For example, the first positioning structure 21 is a positioning post, and the second positioning structure is a positioning hole. Figures 3 to 6 As shown, when the loading rack 3 is placed on the pallet, the positioning post, which is the first positioning structure 21, is inserted into the positioning hole, which is the second positioning structure, so that the first positioning structure 21 and the second positioning structure are connected by the connection of the positioning post and the positioning hole.

[0050] Alternatively, the first positioning structure 21 can be a positioning hole, and the second positioning structure can be a positioning post. When the loading frame 3 is placed on the pallet, the positioning post, which is the second positioning structure, is inserted into the positioning hole, which is the first positioning structure 21, so that the second positioning structure and the first positioning structure 21 are connected by the connection method of the positioning post and the positioning hole.

[0051] In another embodiment, the first positioning structure 21 and the second positioning structure are respectively configured as snap-fit ​​components that can snap into each other.

[0052] In one embodiment, one of the third positioning structure 22 and the fourth positioning structure is configured as a positioning post, and the other is configured as a positioning hole. For example, the third positioning structure 22 is a positioning post, and the fourth positioning structure is a positioning hole. Figure 3and Figure 4 As shown, when the loading frame 3 is placed on the pallet, the positioning post, which is the third positioning structure 22, is inserted into the positioning hole, which is the fourth positioning structure, so that the third positioning structure 22 and the fourth positioning structure are connected by the connection method of the positioning post and the positioning hole.

[0053] Alternatively, the third positioning structure 22 can be a positioning hole, and the fourth positioning structure can be a positioning post. When the loading frame 3 is placed on the pallet, the positioning post, which is the fourth positioning structure, is inserted into the positioning hole, which is the third positioning structure 22, so that the fourth positioning structure and the third positioning structure 22 are connected by the connection method of the positioning post and the positioning hole.

[0054] In another embodiment, the third positioning structure 22 and the fourth positioning structure are respectively configured as snap-fit ​​components that can snap into each other.

[0055] In some embodiments, one of the first positioning structure 21 and the second positioning structure is configured as a positioning post, and the other is configured as a positioning hole. Similarly, one of the third positioning structure 22 and the fourth positioning structure is configured as a positioning post, and the other is configured as a positioning hole.

[0056] In one embodiment, such as Figure 3 and Figure 4 As shown, there are multiple third positioning structures 22 and multiple fourth positioning structures. The fourth positioning structures are configured in a one-to-one correspondence with the third positioning structures 22, and the third positioning structures 22 are arranged in a ring array.

[0057] Specifically, eight third positioning structures 22 are arranged in a circular array. Eight fourth positioning structures are also arranged in a circular array.

[0058] Taking the third positioning structure 22 as the positioning post and the fourth positioning structure as the positioning hole as an example, when the loading frame 3 is placed on the pallet, the positioning posts of the third positioning structure 22 are inserted one by one into the positioning holes of the fourth positioning structure. Since the third positioning structures 22 are arranged in a ring array, the cooperation between each third positioning structure 22 and the corresponding fourth positioning structure assists each other, forming a more stable positioning effect.

[0059] In some embodiments, the automated guided vehicle 1 is provided with a mounting slot for installing the position identification module 5, and each third positioning structure 22 is arranged circumferentially along the mounting slot in a ring array.

[0060] In some embodiments, such as Figure 7 As shown, the positioning post of the third positioning structure 22 can be a bolt. While serving as the third positioning structure 22, the tray and the lifting structure are connected by the bolt.

[0061] In one embodiment, such as Figures 3 to 6 As shown, multiple first positioning structures 21 and multiple second positioning structures are provided. Each second positioning structure corresponds to and cooperates with a first positioning structure 21. Each first positioning structure 21 is located at a corner of the bracket 2. The cooperation between each first positioning structure 21 and its corresponding second positioning structure assists each other to form a more stable positioning effect.

[0062] Specifically, the bracket 2 is rectangular with four corners. Four first positioning structures 21 are provided, one at each corner.

[0063] Taking the first positioning structure 21 as the positioning post and the second positioning structure as the positioning hole as an example, when the loading frame 3 is placed on the pallet, the positioning posts of the first positioning structure 21 are inserted into the positioning holes of the second positioning structure.

[0064] Thus, each of the four corners of the pallet has a first positioning structure 21 that connects with the second positioning structure on the loading frame 3, making the connection between the pallet and the loading frame 3 more stable. Furthermore, because the first positioning structure 21 is more outwardly positioned, the loading frame 3 becomes more stable.

[0065] In one embodiment, such as Figure 1 and Figure 2 As shown, the transfer device based on the automated guided vehicle also includes a limiting member 7. The loading frame 3 is provided with a loading surface for supporting the material 4. The limiting member 7 is provided on the loading surface, and after the material 4 is supported on the loading surface, the material 4 abuts against the limiting member 7. The limiting member 7 acts as a stop for the material 4, effectively reducing the risk of the material 4 falling off the loading frame 3.

[0066] In some embodiments, the limiting member 7 may be configured as a frame mounted on the loading surface.

[0067] Two limiting components 7 can be provided. The two frames are located on opposite sides of the loading surface. After the material 4 is supported on the loading surface, the two sides of the material 4 abut against the limiting components 7, further reducing the risk of the material 4 falling off the loading frame 3.

[0068] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and such modifications and variations all fall within the scope defined by this application.

Claims

1. A transfer device based on an automated guided vehicle, characterized in that, include: Automated Guided Vehicle (1); The bracket (2) is connected to the automated guided vehicle (1), and the bracket (2) is provided with a first positioning structure (21). The loading rack (3) is detachably connected to the bracket (2). The loading rack (3) is used to load materials (4). The loading rack (3) is provided with a second positioning structure that cooperates with the first positioning structure (21).

2. The transfer device based on an automated guided vehicle according to claim 1, characterized in that, The loading rack (3) includes: The main frame (301) is detachably connected to the bracket (2) at the bottom and is used to load materials (4) at the top. The second positioning structure is located at the bottom of the main frame (301). The bracket (302) is connected to the bottom of the main frame (301) and is used to support the ground. The bottom of the main frame (301) and the ground form a receiving space, which is suitable for the automated guided vehicle (1) to drive into.

3. The transfer device based on an automated guided vehicle according to claim 2, characterized in that, Also includes: A lifting mechanism is provided on the automated guided vehicle (1). The bracket (2) is connected to the lifting mechanism. The lifting mechanism is used to drive the bracket (2) to rise and fall. When the first positioning structure (21) is located below the second positioning structure, the first positioning structure (21) can rise and cooperate with the second positioning structure.

4. The transfer device based on an automated guided vehicle according to claim 3, characterized in that, Also includes: Location markers are set on the main frame (301). A location identification module (5) is installed on the automated guided vehicle (1) and is used to detect the position of the location marker. The location identification module (5) is communicatively connected to the automated guided vehicle (1). The location identification module (5) can drive the automated guided vehicle (1) to move according to the position of the location marker so that the first positioning structure (21) is located below the second positioning structure.

5. The transfer device based on an automated guided vehicle according to claim 2, characterized in that, Also includes: Roller (6), the bottom of the bracket (302) is provided with roller (6), the roller (6) is used to support the ground.

6. The transfer device based on an automated guided vehicle according to claim 1, characterized in that, The bracket (2) is also provided with a third positioning structure (22), and the loading frame (3) is provided with a fourth positioning structure that cooperates with the third positioning structure (22).

7. The transfer device based on an automated guided vehicle according to claim 6, characterized in that, One of the first positioning structure (21) and the second positioning structure is set as a positioning post, and the other is set as a positioning hole; And / or, one of the third positioning structure (22) and the fourth positioning structure is configured as a positioning post and the other is configured as a positioning hole.

8. The transfer device based on an automated guided vehicle according to claim 6, characterized in that, Multiple third positioning structures (22) are provided, and multiple fourth positioning structures are provided. The fourth positioning structures are configured in a one-to-one correspondence with the third positioning structures (22), and each of the third positioning structures (22) is arranged in a ring array.

9. The transfer device based on an automated guided vehicle according to claim 1, characterized in that, Multiple first positioning structures (21) are provided, and multiple second positioning structures are provided. The second positioning structures are configured in a one-to-one correspondence with the first positioning structures (21), and each first positioning structure (21) is respectively located at the corner of the bracket (2).

10. The transfer device based on an automated guided vehicle according to claim 1, characterized in that, Also includes: The limiting member (7) is provided on the loading frame (3) for carrying the material (4), and the limiting member (7) is provided on the loading surface for blocking the material (4).

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