AGV trolley and intelligent storage and access system for coal sample storage

Abstract

The utility model discloses a kind of AGV trolley and intelligent access system for coal sample storage.The AGV trolley includes trolley body, frame, for bulk access tray buffer position and integrated vision recognition and positioning system's intelligent manipulator.The intelligent access system is composed of the aforementioned AGV trolley, modular storage shelf, robot transfer center and central control machine.AGV trolley is responsible for transferring coal sample bottle tray between shelf and transfer center;Robot transfer center then through its docking platform, six-axis robot, buffer platform and receiving and sending bottle platform and air sending mouth's collaborative work, realize tray handover and the accurate exchange of coal sample bottle and external pneumatic system.The utility model solves the problems of low efficiency, easy to make mistakes and small storage capacity in traditional coal sample management through compact and efficient AGV trolley design and full-process automated system solution, realizes the unmanned, intelligent closed-loop management of coal sample storage, access and delivery.

Description

Technical Field

[0001] This utility model relates to the field of coal testing technology, and in particular to an AGV trolley and intelligent storage and retrieval system for coal sample storage. Background Technology

[0002] In the coal quality testing process, the transfer, storage, and retrieval of coal samples between sample preparation, testing, and storage stages is a crucial task. Traditional manual management methods are not only inefficient and labor-intensive, but also prone to errors in sample information recording, sample confusion, or loss, affecting the accuracy and timeliness of fuel management. Currently, although some automated equipment exists, it still suffers from limitations in achieving precise grasping, rapid transfer, dense storage of coal sample bottles, and efficient collaboration with the entire coal sample management system. These limitations include complex structures, low positioning accuracy, and low retrieval efficiency. Therefore, the market urgently needs an intelligent solution that is structurally optimized, operationally stable, and offers highly efficient storage and retrieval. Utility Model Content

[0003] This utility model provides an AGV trolley for coal sample storage, comprising:

[0004] The bottom of the vehicle body is equipped with a drive and navigation module for autonomous movement on the ground;

[0005] The frame is fixedly installed on the top of the vehicle body;

[0006] A cache compartment is provided within the frame, and the cache compartment has at least one storage space for temporarily storing coal sample bottle trays;

[0007] An intelligent robotic arm is mounted on the frame and located on one side of the buffer compartment. The intelligent robotic arm is used to grasp or place the tray between the buffer compartment and the external workstation.

[0008] Furthermore, the structure of the intelligent robotic hand includes a multi-joint robotic arm and a gripper disposed at the end of the robotic arm, wherein the multi-joint robotic arm enables the gripper to perform multi-degree-of-freedom spatial motion.

[0009] Furthermore, the intelligent robotic arm also includes a visual recognition and positioning system configured to identify the position and orientation of the tray.

[0010] Furthermore, the interior of the cache compartment is divided into multiple storage spaces to store multiple trays simultaneously.

[0011] Furthermore, the AGV trolley has at least one positioning hole on its pallet for transport, which is used to cooperate with the gripping parts of the intelligent robotic arm or the positioning device of an external workstation.

[0012] Furthermore, the frame is a three-dimensional structure, the cache compartment is located in the lower middle part of the frame, and the intelligent robotic arm is vertically mounted on the column of the frame.

[0013] Furthermore, the vehicle body is a rectangular platform with a preset length and width, and the frame, cache compartment and intelligent robotic arm are all set within the projected area defined by the rectangular platform.

[0014] An intelligent storage and retrieval system for coal sample storage includes:

[0015] At least one of the above-mentioned AGV trolleys;

[0016] Storage shelves with multiple storage locations for storing coal sample bottle pallets;

[0017] The robot transfer center is equipped with a docking platform for pallet handover with the AGV cart;

[0018] And a central control unit for coordinating the work of the AGVs, storage racks and robot transfer center.

[0019] Furthermore, the robotic transfer center also includes a six-axis robot and a gas inlet. The six-axis robot is used to remove coal sample bottles from the tray of the docking platform and transfer them to the gas inlet.

[0020] Furthermore, the storage rack is a modular rack that can be combined into a single-row rack or a double-row rack.

[0021] Beneficial effects:

[0022] The AGV provided by this utility model integrates movement, buffering, and precise grasping functions into one compact structure with comprehensive functions. Through the built-in buffer compartment design, batch processing of tasks is achieved, reducing the number of times the AGV travels between the rack and the transfer center, significantly improving operational efficiency. The visual recognition system, in conjunction with the positioning pin holes on the pallet, provides dual positioning protection, ensuring the accurate and stable grasping and placement of the coal sample bottle pallet by the AGV and the transfer center's robotic arm during high-speed operation, reducing the error rate.

[0023] The system provided by this utility model achieves full automation of the entire process from coal sample entry into the cabinet, automatic shelving, outbound delivery according to instructions to dispatch through the coordinated work of AGV carts, robot transfer center, storage racks and central control system. It innovatively constructs a solution for large-capacity coal sample storage that is not limited by site, realizes a complete, unmanned intelligent storage and retrieval closed loop of the entire system, and greatly improves the intelligence level and overall efficiency of coal sample management. Attached Figure Description

[0024] 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.

[0025] Figure 1 This is a schematic diagram of the AGV trolley of this utility model;

[0026] Figure 2 This is a schematic diagram of the AGV trolley structure of this utility model.

[0027] Figure 3 This is a schematic diagram of the coal sample bottle tray structure of this utility model.

[0028] Figure 4 This is a schematic diagram of the overall layout of the intelligent access system of this utility model.

[0029] Figure 5 This is a schematic diagram of the structure of the storage shelf of this utility model.

[0030] Figure 6 This is a schematic diagram of the structure of the robot transfer center of this utility model.

[0031] In the picture:

[0032] 1-AGV trolley, 11-Trolley body, 12-Frame, 13-Buffer compartment, 14-Intelligent robotic arm, 15-Pattern, 16-Vision recognition and positioning system, 2-Storage rack, 3-Robot transfer center, 31-Six-axis robot, 32-Docking platform, 33-Buffer platform, 34-Bottle receiving and sending platform, 35-Air delivery port, 4-Charging port. Detailed Implementation

[0033] The following is in conjunction with the appendix Figure 1-2 The present invention will be described in further detail below.

[0034] Example 1:

[0035] Please see Figure 1 , Figure 2 and Figure 3 This embodiment provides an AGV (Automated Guided Vehicle) trolley 1 for coal sample storage. The AGV trolley 1 is the core mobile unit of the intelligent storage and retrieval system, responsible for the autonomous and efficient transfer of coal sample bottle trays 3 between the storage rack 5 and the robotic transfer center 6. Specifically, the AGV trolley 1 includes:

[0036] The vehicle body 11 serves as the platform for the entire AGV, and is a rectangular platform structure with a preset length and width. The bottom of the vehicle body 11 integrates a drive and navigation module, such as using LiDAR or visual SLAM technology for autonomous navigation, and using differential wheels or Mecanum wheels to achieve omnidirectional movement, enabling it to move flexibly and accurately within a preset map according to the instructions of the central controller.

[0037] Frame 12: A three-dimensional structure, firmly fixed to the top of the trolley body 11. It provides a mounting base and structural support for other components mounted on the trolley, ensuring the overall rigidity and stability of the trolley during operation and work.

[0038] Buffer compartment 13: Located in the lower middle part of frame 12. The internal space of buffer compartment 13 is divided into multiple independent storage spaces, which can store multiple coal sample bottle trays 151 at the same time. This design allows AGV trolley 1 to perform batch storage and retrieval tasks, taking out or storing multiple trays from or into shelf 2 at one time, greatly reducing the number of round trips and improving overall operation efficiency.

[0039] Intelligent robotic arm 14: Movably mounted on the uprights of frame 12, it can move vertically and is located on one side of buffer compartment 13. This intelligent robotic arm 14 is used to perform gripping and placing actions on pallet 15. Its structure includes a multi-jointed robotic arm and an end effector, enabling multi-degree-of-freedom spatial movement to adapt to different heights and complex operating postures. To ensure gripping accuracy, intelligent robotic arm 14 also integrates a visual recognition and positioning system. This system, through a camera and image processing algorithms, can accurately identify positioning holes or specific features on pallet 15, achieving centimeter-level or even millimeter-level precision positioning, ensuring a high success rate for gripping and placing.

[0040] The entire AGV vehicle 1, including its frame 12, buffer compartment 13, and intelligent robotic arm 14, is designed within the projected area of ​​the vehicle body, resulting in a very compact structure that allows it to move flexibly through relatively narrow passages.

[0041] Example 2:

[0042] Please see Figure 4 , Figure 5 and Figure 6 This embodiment provides an intelligent storage and retrieval system for coal samples. The system integrates the AGV trolley 1 described in Embodiment 1 above, and works in conjunction with other key equipment to form a fully automated closed-loop system for coal sample storage, retrieval, and transfer. The system includes:

[0043] At least one AGV (Automated Guided Vehicle) 1: As the core of the material handling system, it is responsible for performing the transfer of coal sample trays between various fixed stations.

[0044] Storage rack 2: Tray 15 for dense storage of large quantities of coal sample bottles. (e.g.) Figure 5 As shown, shelf 2 is equipped with standardized storage locations. To adapt to different site requirements and storage volumes, this shelf is designed as a modular shelf, which can be flexibly combined into single-row or double-row configurations.

[0045] Robotic Transfer Center 3: This is the core hub connecting the storage area (composed of AGV carts and shelves) with the external pneumatic transfer system. Its detailed structure is as follows... Figure 6 As shown, it mainly consists of the following parts:

[0046] Docking platform 32: Serves as the sole physical interface for handing over pallets 15 to the AGV trolley 1. The AGV trolley 1 precisely places the pallets 15 on this platform or removes empty pallets from it.

[0047] Six-axis robot 31: Typically a high-performance six-axis industrial robot located at the core of the transfer center. Its working range covers the docking platform 32, buffer platform 33, and bottle receiving and sending platform 34.

[0048] Cache platform 33: A temporary storage area with multiple workstations. After the six-axis robot 31 removes the coal sample bottle from the tray of the docking platform 32, it can be placed here for buffering, awaiting the next instruction, thereby achieving process decoupling and improving the system's concurrent processing capability.

[0049] Bottle sending and receiving platform 34: Used for sending and receiving coal sample bottles. The most critical structure on it is the air delivery port 35, which is directly connected to an external pneumatic transmission pipeline system. When a sample needs to be sent, the six-axis robot 31 precisely places the coal sample bottle at the sending position of the air delivery port 35; when a sample is received, the coal sample bottle is transferred to the platform through this port.

[0050] Central Control Unit: As the brain of the entire system, it is a control system that combines software and hardware. It is responsible for receiving task instructions (such as sample storage, sampling, and sample disposal) from the upper-level fuel management system, performing task decomposition and path planning, and then sending specific execution instructions to AGV 1, robot transfer center 3, and racking system, while monitoring the overall system operation status.

[0051] When samples need to be sent out, the central control unit directs the AGV trolley 1 to the designated shelf 2, where the intelligent robotic arm 14 retrieves the pallet 15 containing the target coal sample bottle and transports it to the docking platform 32 of the robot transfer center 3. Subsequently, the six-axis robot 31 starts, grabs the designated coal sample bottle from the pallet 15, and after (or without) temporary storage on the buffer platform 33, accurately places it into the pneumatic inlet 35 of the bottle receiving and dispatching platform 34, sending it to the target location such as the laboratory via a pneumatic system. The sample storage process is the reverse. Throughout the process, the system can instruct the AGV trolley 1 to autonomously return for recharging when idle via the charging port 4 located in a fixed position, ensuring the system's continuous and stable operation.

[0052] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. An AGV (Automated Guided Vehicle) for storing coal samples, characterized in that, include: The bottom of the vehicle body (11) is provided with a drive and navigation module for autonomous movement on the ground; The frame (12) is fixedly installed on the top of the trolley body; A buffer compartment (13) is provided within the frame, the buffer compartment (13) having at least one storage space for temporarily storing a coal sample bottle tray (15); A smart robotic arm (14) is mounted on the frame (12) and located on one side of the buffer compartment (13). The smart robotic arm is used to grab or place the tray (15) between the buffer compartment (13) and the external workstation.

2. The AGV trolley according to claim 1, characterized in that: The structure of the intelligent robotic arm (14) includes a multi-joint robotic arm and a gripper disposed at the end of the robotic arm. The multi-joint robotic arm enables the gripper to perform multi-degree-of-freedom spatial motion.

3. The AGV trolley according to claim 2, characterized in that: The intelligent robotic arm (14) also includes a visual recognition and positioning system (16) configured to identify the position of the tray (15).

4. The AGV trolley according to claim 1, characterized in that: The interior of the cache compartment (13) is divided into multiple storage spaces for storing multiple trays simultaneously.

5. The AGV trolley according to claim 1, characterized in that: The AGV trolley has at least one positioning hole on its pallet (15) for transporting goods. The positioning hole is used to cooperate with the gripper of the intelligent robot or the positioning device of the external workstation.

6. The AGV trolley according to claim 1, characterized in that: The frame is a three-dimensional structure, the cache compartment is located in the lower middle part of the frame, and the intelligent robotic arm is mounted vertically on the column of the frame.

7. The AGV trolley according to claim 1, characterized in that: The vehicle body is a rectangular platform with a preset length and width, and the frame, cache compartment and intelligent robotic arm are all set within the projected area defined by the rectangular platform.

8. An intelligent storage and retrieval system for coal sample storage, characterized in that, include: At least one AGV vehicle (1) as described in any one of claims 1 to 7; Storage rack (2) with multiple storage locations for storing coal sample bottle trays (15); The robot transfer center (3) is equipped with a docking platform (32) for pallet handover with the AGV trolley. And a central control unit for coordinating the work of the AGVs, storage racks and robot transfer center.

9. The intelligent access system according to claim 8, characterized in that: The robot transfer center (3) also includes a six-axis robot (31), and a buffer platform (33) and a bottle receiving and sending platform (34) respectively set within the working range of the six-axis robot; the bottle receiving and sending platform is provided with an air delivery port (35) connected to a pneumatic transmission pipeline.

10. The intelligent access system according to claim 8, characterized in that: The storage rack (2) is a modular rack that can be combined into a single-row rack or a double-row rack.

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