CN115043357B

CN115043357B - Special AGV (automatic guided vehicle) for carrying whole stack of turnover boxes in warehouse and clamping method

Info

Publication number: CN115043357B
Application number: CN202210971019.5A
Authority: CN
Inventors: 刘小峰; 张丰春; 王玉峰; 宋守健; 刘显军
Original assignee: Yantai Dongfang Ruichuangda Electronic Technology Co ltd
Current assignee: Yantai Dongfang Ruichuangda Electronic Technology Co ltd
Priority date: 2022-08-15
Filing date: 2022-08-15
Publication date: 2022-11-04
Anticipated expiration: 2042-08-15
Also published as: CN115043357A

Abstract

The invention relates to a special AGV (automatic guided vehicle) for carrying a whole stack of turnover boxes in a warehouse and a clamping method, belonging to the technical field of logistics devices and AGV; comprises a vehicle body, a locking frame and a clamping box, and is provided with a binding rope and a control rope; the locking frame is regulated and controlled through the control rope, the upper position and the lower position of the clamping and embracing box are regulated and controlled, the flexible clamping and embracing effect of the clamping and embracing box is controlled through the binding rope, the angle deviation and the deviation are automatically adapted, and the stability and the safety during carrying are ensured. The winch is arranged on the vehicle body, so that the center of gravity can be lowered, and the weight is reduced; the winch winds the binding rope and the control rope, and controls the up-down position and the clamping force through winding and unwinding. The locking frame is connected with the control rope and the binding rope, so that the binding rope and the control rope are in rolling connection and limited, and the clamping force can be bound and regulated. The clamping and holding box comprises a hard shell and an elastic lining, and is provided with a binding band, so that the flexible clamping and holding effect and the shaking damping can be obtained. The clamping method adjusts the binding force in real time, can reduce the clamping force, saves energy and prolongs the service life.

Description

Special AGV (automatic guided vehicle) for carrying whole stack of turnover boxes in warehouse and clamping method

Technical Field

The invention relates to an AGV (automatic guided vehicle) for transporting a turnover box and a clamping method, in particular to a method for transporting a whole stack in a warehouse, and belongs to the technical field of logistics devices and AGV (automatic guided vehicles).

Background

The existing electric meters generally adopt intelligent electric meters, and the intelligent electric meters are stored in standard turnover boxes during transportation and storage; during warehousing, the turnover box filled with the intelligent electric meters is stacked on a pallet truck (also called a movable pallet or a movable tray) in an up-and-down laminating manner to form a whole pile of electric meter turnover boxes; the whole stack of electric meter turnover boxes are arranged in the storage positions of the plane warehouse and are automatically carried by the aid of the AGV (also called as an electric forklift or an AGV forklift). For example, the invention patent with the application number of 202111274932.1 discloses an intelligent storage material detection system and method based on RFID, wherein the intelligent storage is divided into a horizontal storage area, a cross-connection area, a three-dimensional storage area and a centralized control center, storage positions are arranged in the horizontal storage area, the cross-connection area and the three-dimensional storage area, and an electric forklift, a jacking station, a travelling crane and a stacker are further arranged in the intelligent storage area; in addition, the utility model patent with the application number of 202020139336.7 (a universal caster and a movable pallet) and the invention patent with the application number of 202111540944.4 (a pallet wheel part correcting component and an integrated stacking system thereof) are also provided.

The whole stack of turnover boxes stacked on the pallet truck has higher gravity center, and is easy to shake, topple and cause accidents when the whole stack is carried; therefore, a clamping mechanism is designed. Utility model patent application No. 202021208621.6 discloses a clamping device and an AGV, comprising at least two clamping assemblies; the clamping assembly comprises a bottom supporting plate, a sliding rail, a clamping plate and a power unit, and is not prone to toppling when the stacked turnover boxes are transported. Utility model patent with application number 201821823659.7 discloses a turnover case automatic supply machine, and existing transport function has the function of supplying with again, can realize steps such as press from both sides tight, promote and transmission, can separate the turnover case of placing on the conveyor chain one by one and carry. The invention patent with the application number of 201810273277.X discloses an AGV for carrying a high-layer stacking distiller's yeast tray, which comprises a fork reinforcing support plate and a stability maintaining device, wherein the fork reinforcing support plate is welded with an AGV fork, and the stability maintaining device is arranged on the fork reinforcing support plate; can prevent the koji tray from shaking, skewing and other problems in the transportation process.

In addition, in order to improve the convenience, stability and safety of carrying the whole stack of turnover boxes and reduce energy consumption, people improve the turnover boxes and provide various patent technologies. The utility model patent with the application number of 201721389036.9 discloses a single-fork AGV forklift, which comprises an AGV body and a frame, wherein a back plate is arranged on the frame, two shifting units are arranged on the back plate, an upper fork tooth is arranged on the upper shifting unit, and a lower fork tooth is arranged on the lower shifting unit; only one fork tooth is arranged in a single horizontal plane, so that the occupied space is small, the use is flexible, the energy is saved, and the stability of goods conveying can be ensured. The utility model patent with the application number of 201820738796.4 discloses an AGV trolley for transferring components, which comprises a trolley body, wherein fork teeth for transferring the transferring components are arranged on the trolley body; the upper end of the vehicle body is provided with a baffle plate for limiting the maximum height; be equipped with the locking device of increase goods stability on the automobile body, improve the stability and the security of turnover subassembly transportation.

With the development of ranging technologies such as laser, infrared ray and ultrasonic wave, the motion and positioning accuracy of the existing AGV are gradually improved. The navigation accuracy of the conventional AGV generally reaches +/-10 mm, the tolerance of the inclination angle of the pallet fork inserting pallet truck is +/-0.5 degrees, and the tolerance of the transverse offset caused by the transverse offset is +/-10 mm. In order to solve the problem of transverse deviation of the goods, the invention patent with application number 202011426040.4 discloses an AGV forklift with a centering positioning function, a supporting frame is arranged, a centering positioning mechanism is arranged at the top of the supporting frame, a hydraulic rod is matched with a rubber plate to extrude the goods, the deviated goods are moved to the center position, instability caused by deviation of gravity center of the goods is avoided, and the safety of the AGV forklift is improved.

The prior art adopts two kinds of vertical and horizontal clamping and holding modes to the whole pile of turnover boxes. The vertical clamping manner generates downward pressure at the upper end of the entire pile of turnover boxes, and clamping force is formed together with the pallet forks at the lower end of the turnover boxes, so that shaking and toppling are avoided; the downward pressure and the gravity of the upper turnover box make the turnover box at the bottom bear larger pressure; because the turnover box is generally formed by injection molding of engineering plastics, obvious deformation and cracks are easy to generate, the cracks are easy to expand, and the service life of the turnover box is shortened. By significant deformation is meant a deformation that is large enough to be visible by the human eye. The horizontal clamping and embracing mode generates transverse clamping and embracing force, so that the whole stack of turnover boxes is prevented from shaking and toppling, transverse shaking damping can be obtained, the clamping and embracing force can be relatively small, and safety is ensured; however, the transverse clamping force needs to automatically adapt to the angle deviation and offset deviation of the whole stack of turnover boxes in the horizontal direction, and the control is complex; otherwise, the turnover box can generate rotation and offset effects, so that the whole turnover box has inclination of inclination, rotation and offset, the stability is reduced, and the clamping effect is influenced. The clamping and holding mechanism for the whole stack turnover box adopts a hydraulic cylinder, an electric push rod or a lead screw to drive a rigid part, generates determined clamping and holding force, is simple to control, cannot automatically adapt to and offset the shaking effect in the carrying process in time, and is easy to cause insufficient or overlarge clamping and holding force. If the clamping force is insufficient, the clamping device is easy to shake, and the stability and safety of the carrying process are reduced; if the clamping force is too large, the turnover box is easy to generate obvious deformation, cracks and crack expansion, and the service life of the turnover box is shortened.

With the application and development of new generation information technologies such as internet of things, cloud computing, artificial intelligence and the like, control technologies and levels for electromechanical systems are continuously developed. On the basis, special AGVs for carrying the whole stack of turnover boxes need to be further researched and improved.

Disclosure of Invention

The invention aims to provide a special AGV for transporting a whole stack of turnover boxes in a warehouse and a clamping and holding method, which improve a clamping and holding mode, automatically adapt to the angle deviation and the offset deviation of the whole stack of turnover boxes, generate a flexible clamping and holding effect and shaking damping, automatically adapt to and timely counteract the shaking effect in the transporting process, ensure the stability and the safety of the transporting process, reduce the clamping and holding force, reduce the center of gravity, reduce the weight, save the energy, avoid the turnover boxes from generating obvious deformation and cracks, and prolong the service life of the turnover boxes. The specific technical scheme of the invention is as follows.

The utility model provides a special AGV of whole buttress turnover case of transport in storehouse contains automobile body, portal, locking frame and presss from both sides and embraces the case, has binding rope, control rope and border rope, through control rope regulation and control locking frame and the upper and lower position of pressing from both sides and embracing the case, through binding rope and border rope control press from both sides the flexible clamp of embracing the case and embrace the effect, self-adaptation angle deviation and the skew deviation of whole buttress turnover case make it obtain flexible clamp and embrace the effect and rock the damping, and automatic adaptation offsets the effect of rocking in the handling in good time, ensures the stability and the security of handling, can reduce and adjust in real time and press from both sides power of embracing, reduces the focus, lightens weight, practices thrift the energy. The special AGV adopts a bilateral symmetry structure and is provided with an axis along the longitudinal direction. The angle deviation refers to a deviation angle of the axis of the special AGV relative to the axis of the pallet truck; the offset refers to the lateral offset of the axis of the dedicated AGV relative to the pallet car axis.

The vehicle body comprises a vehicle body, and a winch is arranged on the vehicle body; the winch winds the binding rope and the control rope, so that the binding rope and the control rope can be wound and released, the upper and lower positions of the locking frame and the clamping and holding box are controlled, and clamping and holding force is generated; the portal is a portal frame, is arranged on the vehicle body, comprises a vertical rail and is provided with an upper pulley; the vertical rails form a track to limit the lifting running track and position of the locking frame, so that the flexible clamping of the entire stack of turnover boxes is realized; the upper pulley passes around the control rope to limit the upper limit position of the control rope; the locking frame is fixedly connected with the clamping box, is in rolling connection with the vertical rail and can move up and down; the locking frame is connected with the control rope, so that the control rope can regulate and control the upper and lower positions of the locking frame and the clamping and holding box; the locking frame is connected with the binding rope, so that the binding rope can be bound, and the clamping force of the clamping and embracing box can be regulated and controlled.

The automobile body contains fork and automobile body, and be equipped with down pulley, regulation pole and winch on the automobile body, preferably ox formula AGV fork truck structure, through fork income pallet truck and lifting bear and carry and stack in the whole buttress turnover case of pallet truck, can reduce the focus, weight reduction, energy saving. The fork is bilateral symmetry's rigidity slat column structure, when fork income pallet truck and lifting, at the upper surface with pallet truck butt to bear and carry and stack in pallet truck's whole pile of piles of turnover case. The fork is fixedly connected with the truck body at the front end, and the rear part is provided with wheels, so that the weight of the truck body can be reduced, and the rigidity and the stability of the truck body can be improved.

The vehicle body is of a rectangular box body structure, wheels are arranged on the bottom surface of the vehicle body, and the rear end of the bottom surface of the vehicle body is fixedly connected with the pallet fork to form a whole. The automobile body has battery, control box and drive arrangement inside, through control box control special AGV's fork dress, bind, transportation, loose bundle and transport operation such as unloading, through the drive arrangement drive the wheel is rotatory, carries the operation. The battery, the control box and the driving device are fixedly arranged in the vehicle body. The battery is respectively electrically connected with the control box and the driving device to provide power for the control box and the driving device. The control box is rectangle box structure, installs the controller in inside, through controller control special AGV's fork dress, bind, transport, loosely bind and transport operations such as unloading. The lower part of the rear surface of the vehicle body is provided with a lower pulley and an adjusting rod, and the upper surface of the vehicle body is provided with a winch. The lower pulley is a fixed pulley and is fixedly arranged at the lower end of the adjusting rod and can rotate relatively to bypass the binding rope so as to limit the lower limit position of the binding rope, and interference between the locking frame and the clamping and holding box when the locking frame and the clamping and holding box reach the lower limit position is avoided.

The adjusting rod is of a vertical rod-shaped structure, is fixedly arranged on the lower portion of the rear surface of the vehicle body, is fixedly connected with the lower pulley at the lower end, and provides fixing and supporting for the lower pulley. The adjusting rod is electrically connected with the control box, can axially stretch out and draw back under the control of the control box, and adjusts and controls the upper position and the lower position of the lower pulley so as to adjust and control the binding force (namely tension) of the binding rope and adjust the clamping force obtained by the binding rope.

The winch is transversely installed on the upper surface of the car body, at least comprises a motor, a brake and a left winding drum and a right winding drum, the binding rope and the control rope are respectively wound in opposite directions through the two winding drums, the control box is controlled to rotate forwards, rotate backwards and brake for locking, the control rope is used for controlling the locking frame and the clamping box to be located at the upper position and the lower position, and clamping force is obtained through the binding rope. The winch is electrically connected with the control box to obtain power supply and control, so that the winch can rotate forwards, reversely and brake and lock under the control of the control box, the binding rope and the control rope can be wound and released, the locking frame and the upper and lower positions of the clamping and embracing box are controlled, and clamping and embracing force is generated.

The two winding drums are coaxially arranged on the winch and can synchronously rotate under the driving of the motor; namely, the two winding drums are fixedly arranged on the same driving shaft, and the rotating speed and the rotating direction of the two winding drums are always the same. The two winding drums are oppositely and reversely wound with the binding rope and the control rope respectively, namely the binding rope is reversely wound with the control rope and is wound on the two winding drums respectively; that is, if the binding rope is wound around the winding drum on the right side in the right-hand direction; the control rope is wound on the winding drum on the left side along the left-handed direction; when the lashing rope is reeled in the right drum, the control rope is then released from the left drum.

Thus, the winch is able to release one of the lashing and control ropes when the other is reeled in, and vice versa; when the control rope is rolled to drive the locking frame and the clamping and holding box to ascend, the binding rope can be released to match with the ascending of the locking frame and the clamping and holding box, so that interference is avoided; and when the control rope is released to enable the locking frame and the clamping and holding box to descend under the action of gravity, the binding rope can be rolled in to match the descending of the locking frame and the clamping and holding box, so that the influence on the rolling in and releasing (rolling and releasing for short) is avoided.

The portal is a portal frame, is vertically installed on the body of the vehicle body, is integrated, comprises a left vertical rail, a right vertical rail and a top plate, is at least provided with a pulley, a navigator and a monitoring device, and is used for limiting the lifting operation track and position of the locking frame through the vertical rails so as to realize flexible clamping of the entire stack of turnover boxes. The vertical rail is vertically arranged on a vehicle body of the vehicle body, the upper surface of the vehicle body is exposed, and the top plate is fixedly arranged at the top end, so that the portal frame becomes a portal frame and is integrated with the vehicle body. The vertical rail is of a vertical frame structure, the cross section of the vertical rail is U-shaped, the inner surface of the U-shaped vertical rail is in rolling connection with the locking frame to form a rail, so that the locking frame can roll relatively to limit the lifting operation track and position of the locking frame, and the flexible clamping of the entire stack of turnover boxes is realized.

The upper pulley is a fixed pulley, is fixedly mounted on the lower surface of the top plate, can rotate relatively, is positioned below the top plate, and bypasses the control rope to limit the upper limit position of the control rope, so that the winch can drive the locking frame and the clamping and holding box to ascend by rolling in the control rope, and also limit the upper limit position of the locking frame and the clamping and holding box. The top plate is of a flat plate structure and is provided with a vertically through mounting hole, the navigator is fixedly mounted on the front part of the upper surface through the mounting hole, the monitoring device is fixedly mounted at the rear end of the top plate, and the upper pulley is fixedly mounted on the front part of the lower surface to fix and support the upper pulley, the navigator and the monitoring device; the front part of the lower surface is fixedly connected with the vertical rail, so that the top plate is fixedly arranged on the vertical rail, and the portal frame becomes a portal frame and is integrated with the vehicle body.

The locking frame is a T-shaped three-dimensional frame and comprises a longitudinal beam, a vertical beam, a connecting frame, a locking mechanism, a pull rod, a limiting frame, a balance spring, a cross beam and a cross rod, and the locking frame and the clamping and holding box are fixedly connected through the longitudinal beam and the cross rod, so that the locking frame and the clamping and holding box are integrated. The locking frame is connected with the vertical rail in a rolling manner through the vertical beam and can move up and down in the rail of the vertical rail. The locking frame is elastically connected with the upper end of the control rope through the connecting frame, so that the control rope can regulate and control the upper and lower positions of the locking frame and the clamping and holding box, and the binding rope and the upper end of the control rope are in rolling connection and limited. The locking frame can be locked relative to the vertical rail of the portal frame through the locking mechanism, so that gaps are eliminated, the locking frame and the clamping and holding box are prevented from shaking relative to the portal frame, and the stability in the carrying process is improved. The locking frame is fixedly connected with the upper end of the binding rope through the pull rod, so that the binding rope can be bound, and the clamping force of the clamping and holding box can be regulated and controlled.

The longitudinal beams are left and right horizontal longitudinal straight beams, the front ends of the longitudinal beams are fixedly connected with the middle lower parts of the vertical beams, the middle parts of the longitudinal beams are fixedly connected with the cross beams, and the front parts and the rear parts of the longitudinal beams are respectively fixedly connected with the cross rods, so that the locking frame is integrated and is a T-shaped three-dimensional frame. The vertical beam is a left vertical beam and a right vertical beam, the middle lower part of the vertical beam is fixedly connected with the front end of the longitudinal beam, the lower end and the upper end of the vertical beam are respectively provided with a transverse horizontal connecting rod, the left end and the right end of the connecting rod are provided with rollers, and the rollers enter the track of the vertical rail to ensure that the vertical beam is connected with the vertical rail in a rolling way and can move up and down. The roller has a wheel hole in the center thereof, and is capable of rotating around the wheel hole. The connecting rod is a horizontal straight rod, the left end and the right end of the connecting rod are fixedly connected with the vertical beam, the connecting rod extends out of the vertical beam, the end part of the connecting rod penetrates through the wheel hole of the roller wheel, and the connecting rod provides fixing and supporting for the roller wheel and can rotate relatively; and the vertical beam is in rolling connection with the vertical rail.

The connecting frame is of a transversely vertical frame-shaped structure, and the middle part of the connecting frame is elastically connected with the upper end of the control rope, so that impact, shaking and loosening are avoided; the control rope is wound around the binding rope, is in rolling connection with the locking mechanism at two ends and obtains limit, and the binding rope and the upper end of the control rope are in rolling connection and limit. The locking mechanism is vertically arranged at the front part of the longitudinal beam in the longitudinal direction, can be abutted against and tightly press the rear surface of the vertical rail of the portal frame under the control of the binding rope by utilizing the connecting frame, eliminates a gap, is locked relative to the vertical rail of the portal frame, avoids the locking frame and the clamping and holding box from shaking relative to the portal frame, and improves the stability and the safety in the carrying process; the locking mechanism can also be actively withdrawn from the abutting joint with the rear surface of the vertical rail, and the upper and lower positions of the connecting frame are limited, so that the locking frame and the clamping and holding box can ascend and descend relative to the vertical rail.

The pull rod is a horizontal transverse straight rod, the middle of the pull rod is fixedly connected with the upper end of the binding rope, the left end and the right end of the pull rod are fixedly connected with the front end of the side rope, the binding rope can drive the pull rod and the front end of the side rope to move forwards, the binding rope can be bound, and clamping force of the clamping and embracing box can be regulated and controlled. The pull rod is fixedly connected with the front end of the balance spring on the left side and the right side, penetrates through the limiting frame on the left side and the right side, and is longitudinally limited, so that the balance spring is prevented from being excessively stretched, damaged and permanently deformed.

The limiting frame is a horizontal longitudinal bent plate, the front end and the rear end of the limiting frame are downwards bent and fixedly connected with the upper surface of the longitudinal beam, a closed frame-shaped structure is enclosed by the limiting frame and the upper surface of the longitudinal beam, the limiting frame penetrates through the pull rod inside the limiting frame, the pull rod is enabled to obtain longitudinal limiting, and the balance spring is prevented from being excessively stretched, damaged and permanently deformed. The balance spring is an extension spring, is fixedly connected with the pull rod at the front end and fixedly connected with the cross beam at the rear end, is positioned at the left side and the right side of the pull rod, and can balance the tension of the binding rope on the pull rod due to the weight of the binding rope, so that the pull rod can automatically return when being loosely bound.

The crossbeam is horizontal straight beam, the left and right sides all with the longeron the middle part balancing spring's rear end fixed connection, both ends all have the rope sheave about, through go up the rope sheave and walk around the limit rope makes the limit rope can be relative the crossbeam rolls. The upper rope wheel is a round pulley, a wheel hole is formed in the center of the upper rope wheel, and the upper rope wheel penetrates through the left end and the right end of the cross beam through the wheel hole to be fixedly installed, so that positioning and supporting are achieved, and relative rotation can be achieved. The circumferential surface of the upper rope wheel is provided with a groove, and the upper rope wheel winds the side rope through the groove, so that the side rope can roll relative to the cross beam. The transverse rod is a horizontal transverse straight rod, and the left side and the right side of the transverse rod are fixedly connected with the longitudinal beam, so that the transverse rod and the longitudinal beam are integrated into a whole to present a frame structure; and is fixedly connected with the clamping and holding box, so that the locking frame and the clamping and holding box are integrated.

The clamping and holding box is of a rectangular box body structure with a downward opening and comprises a hard shell and an elastic lining, a binding band is arranged between the shell and the lining, side grooves are formed in the middle of the left side and the right side of the upper surface of the clamping and holding box, a connecting piece is arranged on the upper surface of the clamping and holding box, rivets are arranged on the side surfaces of the clamping and holding box, a rectangular middle hole is formed in the center of the upper surface of the clamping and holding box, and the clamping and holding box is fixedly connected with a longitudinal beam and a cross rod of the locking frame through the connecting piece to form a whole; when the control rope descends, the top of the whole stack turnover box can be buckled from top to bottom, at least one box of the turnover box is accommodated, and the lining and the binding band are used for achieving flexible clamping and holding effect and shaking damping.

The shell is of a rigid structure and is made of hard materials, so that the clamping and holding box is of a rectangular box body structure with a downward opening. The inner lining is made of flexible materials, has elasticity and is positioned inside the outer shell; the front side surface and the rear side surface of the clamping and holding box are fixedly connected with the shell through the rivets; the left side surface, the right side surface and the bottom surface of the clamping and holding box are preferably bonded through adhesives.

The binding band is a ring-shaped flexible belt, is positioned between the outer shell and the inner lining on the side surface of the clamping and holding box and between the rivets, can move relative to the outer shell and the inner lining, is bent upwards in the middle of the front side surface and the rear side surface of the clamping and holding box, is exposed out of the side groove, and bypasses a lower rope pulley of the side rope; under the control of the binding rope, a flexible clamping effect and shaking damping are obtained.

The side groove is a longitudinal strip-shaped through groove and is positioned in the middle of the left side and the right side of the upper surface of the shell, and the side groove penetrates through the shell and the lining from top to bottom, so that the binding band is bent upwards and can be exposed and bypasses the lower rope wheel of the side rope. The connecting piece is of a square-table-shaped structure, is positioned on the upper surface of the shell, is fixedly connected with the upper surface of the shell on the bottom surface, and is provided with a through hole along the horizontal direction, and the through hole penetrates through a longitudinal beam or a transverse rod of the locking frame, so that the clamping box and the locking frame are fixedly connected into a whole.

The rivet penetrates through the outer shell and the inner lining to fix the inner lining to the inner surface of the outer shell; the utility model discloses a take up the binding tape, including the casing, be located at least the front and back both sides face of casing, and be located between the binding tape, inject the upper and lower position of both sides around the binding tape makes the binding tape is avoided shifting up in the front and back both sides when tightening up, can produce along the horizontal direction press from both sides and embrace the power, the drive the inside lining is to holding in the horizontal direction the turnover case produces the flexible clamp and embraces the effect, adapts to automatically whole buttress turnover case's angular deviation and skew deviation obtains the flexible clamp and embraces the effect and rocks the damping. The mesopore is located press from both sides the center of embracing the case upper surface, runs through from top to bottom shell and inside lining, preferred rectangle makes monitoring devices can obtain the information of turnover case, avoids sheltering from, also makes press from both sides and embraces case and lock solid frame when going up and down, reduces air resistance, can the energy saving.

The binding rope, the control rope and the side rope are all flexible ropes. The binding rope and the control rope are oppositely and respectively wound on the left winding drum and the right winding drum of the winch at the lower end and are respectively and fixedly connected with the left winding drum and the right winding drum. The binding rope goes downwards from a winding drum of the winch, bypasses the lower pulley through a guide wheel, then upwards bypasses a rope wheel of the connecting frame, and then goes backwards and is fixedly connected with the middle position of the pull rod at the upper end. The control rope goes upwards from a winding drum of the winch, passes through the upper pulley, then downwards passes through an upper hole of the connecting frame and is fixedly connected with the lower end of the compression spring. The locking mechanism is arranged on the longitudinal beam of the locking frame and can limit the upper position and the lower position of the connecting frame, so that the winch can drive the locking frame and the clamping box to ascend by rolling in the control rope.

The side rope is fixedly connected with the pull rod at the front end, bypasses upper rope wheels at the left end and the right end of the cross beam in the middle and can roll relative to the cross beam, and a lower rope wheel is arranged at the lower end, so that the pull rod moves forwards and can drive the lower rope wheel to ascend. The lower rope wheel comprises a grooved wheel, a wheel shaft and an inverted U-shaped wheel plate, and the top of the wheel plate is fixedly connected with the lower end of the side rope. The grooved pulley is provided with a wheel hole in the center, penetrates through the wheel shaft by virtue of the wheel hole and can rotate around the wheel shaft, and is provided with a groove in the circumferential surface, and the binding belt of the clamping box is accommodated in the groove, so that the binding belt bypasses the lower rope pulley. The wheel plate is in an inverted U shape, a transverse mounting hole is formed in the lower portion of the wheel plate, the wheel plate penetrates through the wheel shaft through the mounting hole and is fixedly connected with the wheel shaft, the grooved wheel is located inside the inverted U shape of the wheel plate, fixing and supporting are provided for the grooved wheel and the wheel shaft, and the grooved wheel can rotate relatively.

Therefore, the winch can generate binding force by rolling in the binding rope, drive the pull rod to move forwards, tighten the binding belt, and generate flexible clamping effect on the accommodated turnover box through the lining of the clamping and holding box to obtain clamping and holding force in the horizontal direction, so that the winch can automatically adapt to the angle deviation and offset deviation of the whole stack of turnover boxes; under the control of the binding rope, a flexible clamping effect and shaking damping are obtained.

The utility model provides a method is embraced to flexible clamp to whole buttress turnover case, is used for special AGV adjusts in real time the binding power of binding rope (promptly the tension of binding rope), in order to adjust press from both sides and embrace the case and embrace the power to the double-layered of turnover case, in good time offset the effect of rocking in the handling, ensure the stability and the security of handling to reduce and press from both sides power of embracing, the energy saving avoids making the turnover case produce obvious deformation, crackle and crackle extension, improves the life of turnover case. The flexible clamping method is used for establishing and storing the following model before delivery.

Firstly, the types of the turnover boxes of the whole stack of turnover boxes are the same, so the serial numbers of the turnover boxes are recorded asm(ii) a The number of the turnover boxes of the whole stack of turnover boxes is recorded asn(ii) a Install vibration sensor on special AGV's the clamp embraces case, acquires the vibration intensity of carrying whole buttress turnover case process, marks ask；

Installing a tension sensor at the fixed connection part of the upper end of the binding rope and the pull rod, acquiring the binding force of the binding rope in the carrying process, and recording the binding force asf(ii) a Design special AGVfRated maximum, recorded asmaxf；

The special AGV is provided with a navigator on the door frame, and in the process of carrying in the warehouse, the navigator is used for obtaining the position coordinate of navigation, which is marked as (A)x,y)；

Opening up storage space in storage medium, respectively recording and storingk(m,n,x,y) Andf(m,n,x,y) (ii) a Wherein,k(m,n,x,y) For carrying model number ofmOf a quantity ofnThe whole stack of turnover boxes has a pass coordinate ofx,y) IsThe vibration intensity at the location;f(m,n,x,y) For carrying model number ofmOf a quantity ofnThe whole stack of turnover boxes has a pass coordinate of (x,y) The binding force at the position of (a).

Secondly, the special AGV is adopted to carry out carrying experiments in the warehouse and recordk(m,n,x,y) Andf (m,n,x,y) (ii) a The maximum vibration intensity to ensure stability and safety during transportation was observed and recorded asmaxk(m,n) And the minimum binding force at that time is obtained and is recorded asminf(m,n)；

Observation of the minimum vibration intensity during transportation, which affects stability and safety, is recorded asVk(m,n) (ii) a And storeVk(m,n)；Vk(m,n) > maxk(m,n)。

Thirdly, the special AGV is adopted to carry out a plurality of carrying experiments in a plurality of warehouses, and is gradually corrected, optimized and storedmaxk(m,n) Andminf (m,n)。

the flexible clamping method comprises the following steps:

first step, planning carrying route before first carrying in warehouse, obtaining position coordinate sequencex,y,iTherein ofiThe position coordinate serial number of the carrying route;

opening up storage space in storage medium, respectively recording and storingmaxk(m,n,x,y,i) Andminf (m,n,x,y,i) (ii) a Wherein,maxk(m,n,x,y,i) For carrying model number ofmIn an amount ofnThe whole stack of turnover boxes passes through the first conveying routeiA coordinate is (x,y) Maximum vibration intensity at the location of (a);minf (m,n,x,y,i) For carrying model number ofmOf a quantity ofnThe whole stack of turnover boxes passes through the first conveying pathiA coordinate is (x,y) A minimum binding force at the location of (a);maxk(m,n,x,y,i) Is set tomaxk(m,n)，minf (m,n,x,y,i) Is set tominf (m,n)。

Secondly, carrying out carrying operation along a planned carrying route in a warehouse by adopting the special AGV; the control box of the vehicle body controls the adjusting rod to stretch and retract, and regulates and controls the upper position and the lower position of the lower pulley, so that the binding force of the binding rope isminf(m,n,x,y,i) (ii) a And record in real timek(m,n,x,y,i) Andf (m,n,x,y,i) (ii) a Wherein,k(m,n,x,y,i) For carrying model number ofmOf a quantity ofnThe whole stack of turnover boxes passes through the first conveying routeiA coordinate is (x,y) The vibration intensity at the position of (a);f (m,n,x,y,i) For carrying model number ofmOf a quantity ofnThe whole stack of turnover boxes passes through the first conveying routeiA coordinate of: (x,y) The binding force at the position of (a);

if it isk(m,n,x,y,i)≥Vk(m,n)– stepkAnd braking and alarming are carried out, so that the stability and the safety are prevented from being influenced.

In the third step, ifk(m,n,x,y,i)−maxk(m,n,x,y,i)≥stepk and f(m,n,x,y,i) + stepf≤maxfThen give an orderminf (m,n,x,y,i)= f (m,n,x,y,i) + stepfAnd storeminf (m,n,x,y,i)；

If it ismaxk(m,n,x,y,i) −k(m,n,x,y,i)> stepk and f(m,n,x,y,i) – stepf>Then give an orderminf (m,n,x,y,i)= f (m,n,x,y,i) − stepfAnd storeminf (m,n,x,y,i)；

Wherein,stepkfor the step of adjustment of the intensity of the vibration,stepfadjusting step length of the binding force;stepkandstepfare obtained through experiments and can also be manually set.

Supplementary explanation: (1) The lower end of the control rope is wound on a winding drum of the winch, wound on the upper pulley and elastically connected with the connecting frame at the upper end; the locking mechanism is arranged on the longitudinal beam of the locking frame and can limit the upper position and the lower position of the connecting frame. The locking frame and the clamping box are located at an upper limit position when the special AGV is in no-load state; due to the gravity action of the locking frame and the clamping box, the roller of the connecting frame is positioned at the upper end of the locking mechanism track; and the driving plate and the locking plate of the locking mechanism are positioned at the rear limit position under the action of the return spring, and the locking mechanism is withdrawn from the locking state.

Therefore, after the pallet fork of the trolley body is forked into the pallet truck and lifted, the control box of the trolley body controls the winch to rotate, the control rope is released, and the locking frame and the clamping box descend under the action of gravity and can be buckled into the top of the whole stack of turnover boxes from top to bottom; due to the supporting effect of the top turnover box, the locking frame and the clamping and holding box cannot descend any more, and the compression spring of the connecting frame is elastically restored to buffer; the locking frame and the clamping and holding box are prevented from impacting the top turnover box downwards, and obvious deformation, cracks and crack expansion are avoided.

(2) The lower end of the binding rope is wound on a winding drum of the winch, the binding rope downwards winds the lower pulley through a guide wheel, then upwards winds the rope wheel of the connecting frame, and then backwards is fixedly connected with the middle position of the pull rod at the upper end. In addition, the upper end of the control rope is elastically connected with the connecting frame; the connecting frame can obtain the limit of the locking mechanism, so that the binding rope and the upper end of the control rope are connected in a rolling manner and limited.

And when the locking frame and the clamping and holding box are buckled into the top of the whole stack of the turnover box and do not descend any more, the binding operation is started. At this time, the adjusting lever is preferably positioned at the middle of the up-down telescopic range such that the lower pulley is positioned at the middle of the up-down adjusting range, so as to adjust the binding force (i.e., the tension of the binding rope) during the transportation. When the binding operation is started, the control box of the vehicle body controls the winch to continue rotating, the control rope is released, and the binding rope is synchronously wound, so that the roller of the connecting frame gradually descends from the upper end of the locking mechanism rail; along with the gradual increase of the binding force of the binding rope, the compression force borne by the compression spring of the connecting frame is gradually increased and gradually compressed; meanwhile, the pull rod gradually increases the tensile force of the side rope to drive the lower rope wheel to ascend, the binding bands are tightened, the inner lining is deformed and retracted, and the inner lining has a flexible clamping effect on the turnover box contained in the clamping and holding box.

When the roller of the connecting frame is clamped into the opening of the driving plate, the driving plate is driven to move forwards, the locking plate abuts against and presses the rear surface of the vertical rail, and the vertical rail enters a locking state; meanwhile, the driving plate moves forwards, so that the return spring can be stretched to obtain return driving force. The return spring is only used for returning the driving plate, has small elastic modulus and cannot prevent the roller of the connecting frame from moving downwards during binding operation.

When the roller of the connecting frame reaches the lower end of the track of the locking mechanism, the locking frame is in a fully locked state relative to the door frame. At this time, the winch continues to rotate, the control rope is released, the binding rope is synchronously wound, the binding force of the binding rope can be further increased, the clamping force is increased, the compression spring of the connecting frame can elastically recover, and the tension of the control rope is reduced. Therefore, preferably, a tension sensor is arranged at the fixed connection position of the upper end of the binding rope and the pull rod to acquire the binding force of the binding rope; a pressure sensor is arranged at the fixed connection position of the control rope and the lower end of the compression spring, and the tension of the control rope is obtained; when the control box of the vehicle body is used for binding, the binding force of the binding rope and the tension of the control rope are regulated and controlled, so that the control rope can keep proper tension after the binding operation is completed, the transverse shaking and loosening in the carrying process are avoided, and the stability and the safety of the carrying process are improved.

(3) After the binding operation is completed, the winch locks the winding drum of the winch through the brake, the roller of the connecting frame is ensured to be positioned at the lower end of the locking mechanism rail, and the locking frame is in a complete locking state relative to the door frame. The longitudinal connecting rod of the locking disc of the locking mechanism is provided with an external thread at the rear part, and is fixedly connected with the driving plate through the external thread, so that the front and rear positions of the locking disc relative to the driving plate can be adjusted, and the locking force of the locking mechanism can be adjusted. Therefore, the locking force of the locking frame relative to the door frame is independent of the binding force of the binding rope, and the locking force of the locking frame cannot be influenced by the adjustment of the binding force. Since the locking frame is locked relative to the door frame in the binding state, the clamping and embracing box has a flexible clamping and embracing function for accommodating the turnover box, not from downward pressure but from the clamping and embracing force along the horizontal direction of the side face of the clamping and embracing box.

(4) After the binding operation of the control rope is completed, the locking frame is in a fully locking state relative to the door frame. Tightening the straps causing the liner to deform and collapse; the size of the inner liner in the horizontal direction is reduced, and the turnover box accommodated by the clamping box is extruded on the inner side surface of the inner liner; the lining is made of flexible materials and has elasticity, so that the lining has a flexible clamping function; when the lower rope wheel descends to cause the bandage to be loosened, the lining can also be actively restored, and the influence on the lifting operation of the clamping and holding box in the loose binding state is avoided.

In addition, the special AGV is in a binding state in the carrying process; if the whole stack of turnover boxes shakes due to factors such as uneven ground, collision or braking, the turnover boxes accommodated by the clamping and holding boxes can pull the inner liners of the clamping and holding boxes in the horizontal direction; resulting in the deformation and variation of the degree of retraction of the liner on its sides and in the gap between the liner and the sides of the container. The inner liner is made of flexible materials and has elasticity; therefore, the liner can generate periodic acting force for preventing shaking, absorb shaking energy and generate shaking damping. That is, the clip embracing box can obtain a flexible clip embracing action and shake damping by the lining and the binding band when being carried.

(5) When the control rope controls the locking frame and the clamping box to be buckled into the top of the whole stack of turnover boxes from top to bottom, the special AGV is in a loose binding state; the liner and the strap are in a naturally relaxed state, the liner being attached at its outer side to the inner side of the shell. The whole stack of turnover boxes can smoothly descend and buckle in the range of the inclination angle tolerance and the transverse deviation tolerance. Therefore, the size of the clamping and holding box needs to be customized according to the type of the turnover box, the inclination angle tolerance and the transverse offset tolerance are fully considered, and enough clearance allowance is reserved on the side face. The turnover box model of whole pile of piles of turnover box is the same, special AGV also consequently is the special AGV of the whole pile of piles of turnover box of the definite model of transport.

In addition, when the clamping and holding box is buckled into the top of the whole stack of turnover boxes and does not descend any more, binding operation is carried out, and the binding bands begin to be tightened. Because the whole stack of turnover boxes has angular deviation and relative inclination, the binding bands on the left side and the right side can be relatively staggered, and the lower rope wheels on the left side and the right side can relatively rotate in opposite directions. Due to the fact that offset deviation exists in the whole stack of turnover boxes, front and back offset or left and right offset is caused; the fore-aft offset may cause the straps on both the left and right sides to move forward or backward, causing the lower sheaves on both the left and right sides to rotate in the same direction; the left-right offset may cause the straps on the left and right sides to move relative to the outer shell and inner liner. Therefore, the clamping and holding box is in a binding state and cannot rotate and offset the whole stack of turnover boxes, the whole stack of turnover boxes cannot incline, rotate and offset, and the angle deviation and the offset deviation of the whole stack of turnover boxes can be automatically adapted.

(6) The flexible clamping method is realizedBefore the factory, adopt special AGV carries the experiment in the warehouse, observes at handling, ensures the maximum vibration intensity of stability and securitymaxk(m,n) (ii) a Preferably be in install vibration sensor in the top turnover case of whole pile of piles turnover case of special AGV transport, and the range estimation whole pile of piles of turnover case rock amplitude, appraise its stability and security.

In addition, the special AGV repeatedly performs the transport operation a plurality of times along the planned transport route in the warehouse. Thus, optimised and stored several timesminf (m,n,x,y,i) And then the serial number of the special AGV carrying model ismOf a quantity ofnThe whole stack of turnover boxes passes through the first conveying routeiA coordinate is (x,y) When the position of the lifting device is in the position of (2), the shaking action in the carrying process can be counteracted, and the minimum binding force of the stability and the safety in the carrying process is ensured; the whole stack of turnover boxes can obtain the minimum clamping force, and the stability and the safety in the carrying process can be ensured; the energy can be saved, the turnover box is prevented from generating obvious deformation, cracks and crack propagation, and the service life of the turnover box is prolonged.

The invention has the following beneficial effects: (1) The special AGV regulates and controls the upper and lower positions of the locking frame and the clamping and holding box through the control rope, and controls the clamping and holding box through the binding rope and the side rope to obtain a flexible clamping and holding effect and shaking damping; the winch winds the binding rope and the control rope in opposite directions, respectively, and releases one of the binding rope and the control rope when the other is wound. The connecting frame of the locking frame is elastically connected with the upper end of the control rope in the middle, bypasses the binding rope, is in rolling connection with the binding rope, and is limited at two ends, so that the binding rope and the upper end of the control rope are in rolling connection and limited.

Therefore, compared with the existing AGV adopting a screw rod for driving to clamp, the special AGV provided by the invention has the advantages that the binding rope and the control rope are wound and released through the winch, the upper and lower positions are regulated and controlled, a flexible clamping effect and shaking damping are generated, clamping force generated by driving rigid parts through a hydraulic cylinder, an electric push rod or the screw rod is avoided, the weight can be greatly reduced, the center of gravity is reduced, the energy is saved, and the convenience, the stability and the safety of a carrying process are enhanced. In addition, in the carrying process, the locking frame is locked relative to the vertical rail of the door frame through the locking mechanism, the gap is eliminated, the locking frame and the clamping and holding box are prevented from shaking relative to the door frame, and the stability and the safety in the carrying process can be effectively improved.

(2) The lower part of the rear surface of the vehicle body is provided with a lower pulley and an adjusting rod; the lower pulley is fixedly arranged at the lower end of the adjusting rod, bypasses the binding rope and limits the lower limit position of the binding rope; the adjusting rod axially stretches under the control of the control box, the upper position and the lower position of the lower pulley are adjusted and controlled, the binding force of the binding rope is adjusted and controlled, and the clamping force obtained through the binding rope is adjusted.

Therefore, compared with the existing AGV which generates the determined clamping force, the special AGV can adjust the clamping force obtained through the binding ropes, automatically adapts to and timely offsets the shaking effect in the conveying process; the problem that the stability and the safety of the carrying process are influenced due to large shaking amplitude caused by insufficient clamping force can be effectively avoided; the turnover box can also effectively avoid obvious deformation, cracks and crack expansion caused by overlarge clamping force, and the service life of the turnover box is shortened.

(3) The clamping and holding box comprises a hard shell and an elastic lining, and is provided with a binding band; the binding band is positioned between the shell and the lining on the side surface of the clamping and holding box and bypasses the lower rope wheel of the side rope; upon upward movement of the lower sheave, can tighten, causing the liner to deform and retract; through the inside lining produces the flexible effect of embracing to the turnover case that holds, adapts to automatically whole pile of angular deviation and skew deviation of turnover case. The clamping and holding box generates a flexible clamping and holding effect and shaking damping under the control of the binding rope.

Therefore, compared with the existing AGV which adopts a hydraulic cylinder, an electric push rod or a lead screw to drive a rigid part and generate clamping force, the special AGV of the invention causes the liner to deform and retract by tightening the binding bands, and generates flexible clamping effect on the accommodated turnover box through the liner. Because the inside lining is made by flexible material, has elasticity, with turnover case flexible contact, area of contact is bigger moreover, can effectively protect the turnover case improves its life, avoids leading to the turnover case produces obvious deformation, crackle and crack propagation.

(4) The clamping and holding box is buckled into the top of the whole stack of turnover boxes, and the binding bands are tightened when binding operation is carried out. Due to the fact that the whole pile of turnover boxes has angular deviation and offset deviation, the lower rope wheels on the left side and the right side can be caused to rotate, and the binding bands on the left side and the right side move relative to the outer shell and the inner lining. Therefore, the clamping and holding box is in a binding state, and the rotating and shifting effects on the whole stack of turnover boxes cannot be generated. Therefore, compared with the existing AGV which drives rigid parts and generates horizontal clamping force, the AGV special for the full stack turnover box can automatically adapt to the angle deviation and the offset deviation of the full stack turnover box, does not enable the full stack turnover box to incline, rotate and offset, and can effectively improve the stability and the safety.

(5) The special AGV is in a binding state in the carrying process; if the whole pile of turnover boxes shakes, the turnover boxes accommodated by the clamping and holding boxes can pull the linings of the clamping and holding boxes in the horizontal direction. The inner liner is made of flexible materials and has elasticity; therefore, the liner can generate periodic acting force for preventing shaking, absorb shaking energy and generate shaking damping. Therefore, compared with the existing AGV which drives the rigid part to generate horizontal clamping force, when the special AGV is used for carrying, the clamping and holding box can obtain flexible clamping and holding effect and shaking damping through the lining and the binding belt, and the stability and the safety of the carrying process are improved; the clamping force can be reduced under the condition of ensuring the stability and the safety, the energy is saved, the efficiency is improved, the service life is prolonged, and the turnover box is prevented from generating obvious deformation, cracks and crack propagation.

(6) The special AGV is in a binding state in the carrying process; the locking frame is locked relative to the door frame through the locking mechanism of the locking frame; the locking force of the locking frame relative to the door frame is independent of the binding force of the binding rope, and the locking force of the locking frame cannot be influenced by the adjustment of the binding force. Therefore, compared with the conventional AGV which drives rigid parts to generate downward pressure to perform vertical clamping, the clamping box disclosed by the invention has the advantages that the flexible clamping function for accommodating the turnover box is realized not by the downward pressure but by the clamping force along the horizontal direction from the side surface of the clamping box; the pressure born by the bottom turnover box can be effectively prevented from being increased, the bottom turnover box is prevented from generating obvious deformation, cracks and crack propagation, and the service life of the bottom turnover box is prolonged.

(7) The flexible clamping method is used for the special AGV, repeatedly carries out carrying operation for multiple times along a planned carrying route in a warehouse, and continuously optimizes and stores the carrying operationminf(m,n,x,y,i) (ii) a Therefore, the shaking action in the conveying process can be timely counteracted by adopting the minimum binding force, and the stability and the safety in the conveying process are ensured. Namely, the flexible clamping method enables the whole stack of turnover boxes to obtain the minimum clamping force and can ensure the stability and safety of the carrying process; the energy is saved, the turnover box is prevented from generating obvious deformation, cracks and crack propagation, and the service life of the turnover box is prolonged.

Drawings

FIG. 1 is a schematic diagram of the general structure of the dedicated AGV;

FIG. 2 is a top view A-A of FIG. 1;

FIG. 3 is a left side view of the preferred embodiment of the attachment frame in the position of FIG. 1;

FIG. 4 is a schematic diagram of the overall structure of a preferred embodiment of the locking mechanism;

FIG. 5 is a partial right side view of FIG. 4;

fig. 6 is an enlarged view of the sideline in the position of the dotted oval in fig. 1.

Description of reference numerals: the device comprises a vehicle body 1, a pallet fork 11, a vehicle body 12, a lower pulley 13, an adjusting rod 14, a winch 15, a portal 2, a vertical rail 21, an upper pulley 22, a navigator 23, a top plate 24, a monitoring device 25, a locking frame 3, a longitudinal beam 31, a vertical beam 32, a connecting frame 33, a transverse connecting rod 331, a bending connecting plate 332, a sleeve 333, a compression spring 334, a rope pulley 335, a roller 336, a locking mechanism 34, a vertical connecting plate 341, a transverse connecting plate 342, a locking disc 343, a driving plate 344, a rail 345, a front connecting disc 346, a guide rod 347, a return spring 348, a rear connecting disc 349, a pull rod 35, a limiting frame 36, a balance spring 37, a transverse beam 38, an upper rope pulley 381, a transverse rod 39, a clamping box 4, a shell 41, an inner lining 42, a binding belt 43, a side groove 44, a connecting piece 45, a rivet 46, a middle hole 47, a binding rope 5, a control rope 6, a side rope 7 and a lower rope pulley 71.

Detailed Description

The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The direction described in this specification is based on the AGV in a transport state, and the forward direction is forward and the reverse direction is backward; the front and back direction is longitudinal direction, and the direction vertical to the front and back direction is transverse direction; and so on for other directions. In fig. 1, the right side is front, and so on. Fig. 1 is a schematic diagram of the general structure of the AGV, and fig. 2 is a top view of a-a in fig. 1. The special AGV comprises an AGV body 1, a portal frame 2, a locking frame 3 and a clamping box 4, and is provided with a binding rope 5, a control rope 6 and a side rope 7.

The vehicle body 1 comprises a pallet fork 11 and a vehicle body 12; the pallet fork 11 is of a rigid lath-shaped structure which is bilaterally symmetrical, and when the pallet truck is forked and lifted, the pallet fork is abutted against the pallet truck on the upper surface so as to bear and carry the whole stack of turnover boxes stacked on the pallet truck; the front end of the pallet fork 11 is fixedly connected with the vehicle body 12, and the rear end of the pallet fork is provided with wheels; the vehicle body 12 is a rectangular box structure with wheels on the bottom surface. The vehicle body 1 and the above structure thereof are preferably manufactured by machining the structure, materials, parts and processes of the conventional ox type AGV forklift.

The car body 12 is provided with a battery, a control box and a driving device inside, and the control box controls the fork-loading, binding, transporting, loosening and unloading of the special AGV. The battery respectively with control box and drive arrangement electricity are connected, provide the power for it, and the battery product of preferred current AGV realizes. The control box is of a rectangular box body structure, a controller is installed inside the control box, and engineering plastics are preferably selected for injection molding. The controller preferably selects a controller product of the existing AGV and is realized by utilizing the development technology of the existing AGV control system. The driving device is used for driving the wheels to rotate and carrying out carrying operation; the drive means of the body 12 and its wheels are preferably realized as a steering wheel product of an existing AGV. The battery, control box and drive are all preferably mounted by fasteners within the vehicle body 12 for easy removal and maintenance.

The body 12 is provided with a lower pulley 13, an adjustment lever 14 and a winch 15. The adjusting rod 14 is electrically connected with the control box, can axially extend and retract under the control of the control box, and adjusts and controls the upper and lower positions of the lower pulley 13, preferably realized by the existing electric push rod product. The fixed mounting of the lower pulley 13 to the lower end of the adjustment lever 14 and the fixed mounting of the adjustment lever 14 to the lower portion of the rear surface of the vehicle body 12 are preferably accomplished by fasteners for easy removal and maintenance.

The winch 15 at least comprises a motor, a brake, a left winding drum and a right winding drum, is electrically connected with the control box to obtain power supply and control, is preferably realized by the existing winch product with double winding drums (or double ropes), and can also be manufactured by the materials and the process of the existing winch product. The existing winch products are generally provided with a motor, a brake and a winding drum, can rotate forwards and backwards and brake and lock, and can meet the functional requirements of the winch 15. The transverse mounting of the winch 15 on the upper surface of the body 12 is preferably achieved by fasteners to facilitate removal and maintenance.

The gantry 2 is a portal frame, and comprises a left vertical rail 21, a right vertical rail 21 and a top plate 24, and at least a pulley 22, a navigator 23 and a monitoring device 25 are mounted on the top plate 24. The vertical rail 21 is of a vertical frame-shaped structure, the cross section of the vertical rail is U-shaped, a rail is formed on the inner surface of the U-shaped rail, and the vertical rail is preferably made of an existing groove aluminum profile through cutting. The upright mounting of the stand rails 21 to the vehicle body 12 is preferably accomplished by fasteners to facilitate removal and maintenance.

Both the lower pulley 13 and the upper pulley 22 are fixed pulleys, preferably realized as existing pulleys or rope pulley products. The navigator 23 is used for the navigation of the dedicated AGV in the warehouse, preferably an existing laser navigator product. The monitoring device 25 is at least used for monitoring obstacles, cargo spaces and transfer cases, preferably using laser, infrared, graphic images or ultrasonic waves, preferably a lidar, a camera, a digital camera product or a combination thereof of the prior art.

The top plate 24 has a flat plate-like structure with a vertically penetrating mounting hole, and is preferably formed by press working a conventional aluminum plate material. The fixed connection of the top plate 24 to the vertical rails 21 at the front of the lower surface, and the fixed mounting of the upper pulley 22, the navigator 23 and the monitoring device 25 on the top plate 24 are preferably achieved by fasteners for easy disassembly and maintenance.

As shown in fig. 2, the locking frame 3 is a T-shaped three-dimensional frame, and includes a longitudinal beam 31, a vertical beam 32, a connecting frame 33, a locking mechanism 34, a pull rod 35, a limiting frame 36, a balance spring 37, a cross beam 38, and a cross bar 39. The longitudinal beam 31 is a left horizontal longitudinal straight beam and a right horizontal longitudinal straight beam, and the vertical beam 32 is a left vertical straight beam and a right vertical straight beam; the longitudinal beam 31 and the vertical beam 32 are both preferably formed by cutting an aluminum alloy square tube profile. The longitudinal beam 31 is fixedly connected, preferably welded, at the front end to the lower middle portion of the vertical beam 32.

The vertical beams 32 have transverse horizontal links at both the lower and upper ends, preferably aluminum alloy tubular profiles of smaller cross-sectional size than the vertical beams 32, formed by machining. The fixed connection of the connecting rods to the vertical beams 32 at the left and right ends is preferably welded, and can also be realized by fasteners. The connecting rod is provided with rollers at the left end and the right end, and a wheel hole is formed in the center, and the prior guide rail roller product is optimized. The rollers are arranged at the left end and the right end of the connecting rod, preferably, cylindrical shafts made of medium carbon steel bars through cutting are fixedly arranged at the left end and the right end of the connecting rod, and then the cylindrical shafts penetrate through wheel holes of the rollers; the cylindrical shaft is fixedly provided with optimized set screws or other fasteners at the left end and the right end of the connecting rod; the axial positioning of the roller on the cylindrical shaft is preferably achieved with existing fasteners.

Fig. 3 is a left side view of the preferred embodiment of the connecting frame 33 in the position of fig. 1. The preferred embodiment of the connecting frame 33 comprises a cross link 331, a bent link plate 332, a sleeve 333, a compression spring 334, a sheave 335 and a roller 336. The transverse connecting rod 331 is a transverse horizontal straight rod, passes through the rope pulley 335 in the middle, and passes through the rollers 336 at the left end and the right end respectively, so that the rope pulley 335 and the rollers 336 are fixed and supported and can rotate relatively; the left and right sides are respectively fixedly connected with the bent connecting plate 332 to form a whole, and a frame-shaped structure is formed.

The bent connecting plate 332 is a vertical bent strip-shaped flat plate, the lower end of the bent connecting plate is fixedly connected with the transverse connecting rod 331, the upper end of the bent connecting plate is fixedly connected with the sleeve 333, the bent connecting plate and the sleeve are integrated into a whole, a frame-shaped structure is formed, the axis of the sleeve 333 is overlapped with the perpendicular bisector of the transverse connecting rod 331, and interference with the rope wheel 335 is avoided. Said sleeve 333 is of an upright cylindrical configuration with an upper orifice at the upper end and a lower orifice at the lower end, internally housing said compression spring 334, said upper orifice being of smaller diameter than said lower orifice and being able to retain said compression spring 334 in the region of said upper orifice, defining the relative position thereof; and passes through the control cord 6 through the upper orifice to obtain an elastic connection with the upper end of the control cord 6.

The compression spring 334 is a vertical cylindrical helical spring, is located inside the sleeve 333, is clamped with the sleeve 333 at the upper orifice at the upper end, and is fixedly connected with the control rope 6 at the lower end, so that the connecting frame 33 is elastically connected with the upper end of the control rope 6. The compression spring 334 bears axial compression force and can elastically stretch and retract, so that the impact of the winch 15 when the locking frame 3 and the clamping and holding box 4 are driven by the control rope 6 to start ascending and descending is relieved, the motor of the winch 15 can be protected, and the service life of the winch is prolonged; in the carrying process, the control rope 6 can be kept in tension, so that transverse shaking and loosening are avoided, and the stability and the safety in the carrying process are improved.

The sheave 335 is a circular pulley having a wheel hole at the center, and passes through the cross link 331 by means of the wheel hole to be positioned and supported, and can be relatively rotated. The rope pulley 335 has a groove formed on an outer circumferential surface thereof, and passes around the binding rope 5 through the groove, so that the connecting bracket 33 is roll-connected to the binding rope 5. The roller 336 has a wheel hole at the center, and passes through the left and right ends of the cross link 331 to be positioned and supported by the wheel hole, and can rotate relatively. The roller 336 is located in the locking mechanism 34 and rolls relative thereto, so that the connecting frame 33 is connected with the locking mechanism 34 at both ends in a rolling manner and is limited, and the binding ropes 5 and the upper ends of the control ropes 6 are connected in a rolling manner and are limited.

The transverse connecting rod 331 is a transverse horizontal straight rod, and preferably an aluminum alloy round tube section is formed by cutting; the bent connecting plate 332 is a vertical bent strip-shaped flat plate, and preferably an aluminum alloy plate is formed by stamping; the fixed connection of the bent connecting plate 332 to the transverse link 331 at its lower end and to the sleeve 333 at its upper end are preferably welded.

The sleeve 333 is cylindrical in shape with an upper orifice at the upper end and a lower orifice at the lower end, where the diameter of the upper orifice is smaller than the lower orifice, preferably an aluminum alloy round tube profile is forged. The compression spring 334 is capable of elastic expansion and contraction under axial compression force, and is preferably implemented by the existing cylindrical helical spring product. The compression spring 334 is fixedly connected at its lower end to the control cord 6, preferably by a pressure plate, a catch, other fastener or a combination thereof. The rope wheel 335 is a round pulley, the center of which is provided with a wheel hole, and the outer circumferential surface of which is provided with a groove, and the prior pulley product is preferably selected; the roller 336 has a wheel hole in the center, preferably implemented with existing metal rollers or deep groove ball bearing products. The fixed mounting of the sheave 335 and the roller 336 to the cross link 331 is preferably accomplished by fasteners.

FIG. 4 is a general structural view of a preferred embodiment of the locking mechanism 34; fig. 5 is a partial right side view of fig. 4. The preferred embodiment of the locking mechanism 34 includes a vertical link plate 341, a horizontal link plate 342, a locking plate 343, a driving plate 344, a rail 345, a front link plate 346, a guide rod 347, a return spring 348 and a rear link plate 349. The vertical connecting plate 341 is a vertical bent plate, and includes an upper vertical plate at the upper part, a transverse bent plate formed by transverse bending, and a lower vertical plate at the lower part, and is fixedly connected with the rail 345 through the upper vertical plate; the lower vertical plate is provided with a transverse through hole, and the lower vertical plate is fixedly connected to the longitudinal beam 31 through the through hole by a fastener to obtain fixing and supporting. The vertical connection plate 341 has a reinforcing plate between the lateral bending plate and the lower vertical plate to improve its structural strength.

The transverse connecting plate 342 comprises a vertical bent plate and a transverse plate which are perpendicular to each other and fixedly connected with each other, and a closed structure is enclosed by the vertical bent plate and the upper vertical plate of the vertical connecting plate 341 so as to accommodate the driving plate 344, the rail 345, the front connecting disc 346, the guide rod 347, the return spring 348 and the rear connecting disc 349; the transverse plates are provided with vertical through holes, and the transverse plates are fixedly connected to the longitudinal beams 31 through the through holes by fasteners to obtain fixing and supporting. The vertical bending plate is provided with a vertical through groove at the front part intersecting the rail 345, and the through groove is used for penetrating through the left end part and the right end part of the transverse connecting rod 331 of the connecting frame 33, so that the roller 336 of the connecting frame 33 can reach the lower end of the rail 345 in the rail 345, and interference is avoided. The vertical bent plate is transversely bent at the front end and the rear end to form a front end plate and a rear end plate, and the front end plate and the rear end plate are fixedly connected with the upper vertical plate and the transverse bent plate of the vertical connecting plate 341 to form a closed structure. The front end plate and the rear end plate are provided with longitudinal through holes in the centers.

The locking plate 343 is a disc-shaped structure, and has a flexible wear-resistant layer on the front surface and a longitudinal connecting rod in the center of the rear surface, and is locked by abutting and pressing the wear-resistant layer against the rear surface of the vertical rail 21, and is fixedly connected with the driving plate 344 by the longitudinal connecting rod, so that the wear-resistant layer can be controlled to enter and exit a locked state under the control of the driving plate 344. The longitudinal connecting rod is a longitudinal straight rod, penetrates through the through hole of the front end plate, is fixedly connected with the rear surface of the locking disc 343 at the front end, is provided with an external thread at the rear part, is fixedly connected with the driving plate 344 through the external thread, and can adjust the front and rear positions of the locking disc 343 relative to the driving plate 344 so as to adjust the locking force of the locking mechanism 34.

The driving plate 344 is a U-shaped transverse curved plate, and includes a front vertical plate and a rear vertical plate fixedly connected to each other at lower ends, and an upward opening is formed between the front vertical plate and the rear vertical plate, so that when the roller 336 of the connecting frame 33 is clamped into the opening downward, the driving plate 344 is driven to move forward, and the locking plate 343 is driven to abut against and press the vertical rail 21, so as to enter a locking state; the return spring 348 is also allowed to extend to generate a return driving force, and when the roller 336 is withdrawn upward from the opening, the driving plate 344 is actively returned to exit the locked state.

The front vertical plate is bent forwards at the upper end so as to guide the roller 336 to be clamped in, a threaded hole is formed in the front surface, and the threaded hole is matched with the external thread of the longitudinal connecting rod of the locking disc 343 to be fixedly connected with the locking disc 343. The rear riser is fixedly connected at a rear surface to the front ends of the guide rods 347 and is fixedly connected to the front ends of return springs 348 via the front link plate 346 such that advancing the drive plate 344 causes the return springs 348 to extend, generating a return driving force.

The track 345 is a transverse closed curved plate in the shape of a vertical long circle, and the left end surface and the right end surface of the track are respectively fixedly connected with an upper vertical plate of the vertical connecting plate 341 and a vertical curved plate of the transverse connecting plate 342 into a whole; the roller 336 of the link frame 33 is received therein, and the up-and-down movement range of the roller 336 is limited so that the link frame 33 is restrained. The track 345 has a longitudinal channel at the lower portion, and the driving plate 344 is received in the channel, such that the roller 336 can be inserted into the opening of the driving plate 344 when moving downward, to drive the driving plate 344 forward, and to drive the locking plate 343 into the locked state. The front connecting disc 346 is of a disc-shaped structure and is provided with a circular through hole in the center; the rear surface of the driving plate 344 is fixedly connected with the front end of the return spring 348, and the front surface of the driving plate is fixedly connected with the rear vertical plate of the driving plate 344; the guide rod 347 is penetrated by the through hole.

The guide rod 347 is a horizontal longitudinal straight rod, is coaxial with the longitudinal connecting rod of the locking disc 343, passes through a through hole of the front connecting disc 346 at the front end, and is fixedly connected with the rear vertical plate of the driving plate 344 to form a whole; the rear end of the transverse connecting plate 342 passes through the through hole of the rear end plate and the through hole of the rear connecting disk 349, and the middle part of the transverse connecting plate passes through the return spring 348. The guide rod 347 penetrates through the through hole of the transverse connecting plate 342 at the rear end plate, and penetrates through the through hole of the transverse connecting plate 342 at the front end plate together with the longitudinal rod of the locking plate 343, so as to provide a guiding function for the driving plate 344, and prevent the driving plate 344 from inclining or being jammed when moving back and forth.

The return spring 348 is a cylindrical helical spring, the front end of the return spring 348 is fixedly connected with the front connecting disc 346, the rear end of the return spring 349 is fixedly connected with the rear connecting disc 349, and the rear connecting disc 349 and the transverse connecting plate 342 are fixedly connected with the rear end plate of the vertical bent plate, so that the drive plate 344 moves forwards, the return spring 348 can be caused to stretch, and return driving force is obtained. The rear connecting plate 349 is of a disc-shaped structure, is provided with a circular through hole in the center, is fixedly connected with the return spring 348 on the front surface, and is fixedly connected with the rear end plate of the vertical bent plate of the transverse connecting plate 342 on the rear surface; when the driving plate 344 moves forward, the return spring 348 can stretch, and a return driving force is obtained, so that the driving plate 344 can return actively.

The vertical connecting plate 341 is a vertical bent plate, and comprises an upper vertical plate at the upper part, a transverse bent plate formed by transverse bending and a lower vertical plate at the lower part; the vertical connecting plate 341 has a reinforcing plate between the transverse bent plate and the lower vertical plate; the vertical connecting plate 341 and the above structure are preferably formed by forging an aluminum alloy material. The transverse through holes in the lower vertical plate are preferably formed by cutting. The transverse connecting plate 342 comprises a vertical bending plate and a transverse plate which are perpendicular to each other and fixedly connected; the vertical bent plate is transversely bent at the front end and the rear end to form a front end plate and a rear end plate; the front part of the vertical bent plate is provided with a vertical through groove; the transverse connecting plate 342 and the structure thereof are preferably formed by punching and bending an aluminum alloy plate. The vertical through holes of the transverse plate and the longitudinal through holes of the front end plate and the rear end plate are preferably formed by cutting. The front end plate and the rear end plate are fixedly connected with the upper vertical plate and the transverse bent plate of the vertical connecting plate 341, and are preferably welded.

The locking disc 343 is of a disc-shaped structure, the front surface of the locking disc is provided with a flexible wear-resistant layer, and the center of the rear surface of the locking disc is provided with a longitudinal connecting rod; the flexible wear layer is preferably made of existing wear resistant rubber and is preferably fixedly attached to the front surface of the locking plate 343 by fasteners. The longitudinal connecting rod is a longitudinal straight rod and is fixedly connected with the rear surface of the locking disc 343 at the front end; the longitudinal connecting rod and the locking disc 343 are preferably formed by integrally forging medium carbon steel bars. The external thread of the longitudinal connecting rod at the rear part is preferably formed by cutting.

The driving plate 344 is a U-shaped transverse curved plate including a front vertical plate and a rear vertical plate fixedly connected to each other at lower ends; the front vertical plate is bent forwards at the upper end; the drive plate 344 and the above-described structure thereof are preferably formed from a medium carbon steel sheet material by stamping and bending. The front riser is provided with a threaded hole on the front surface, and is preferably formed by cutting. The rail 345 is a transverse closed curved plate in the shape of a vertical long circular ring, and preferably an aluminum alloy plate is formed by bending and welding. The rails 345 are fixedly connected to the upper vertical plate of the vertical connection plate 341 and the vertical bent plate of the horizontal connection plate 342 at the left and right end surfaces, preferably by welding. The rails 345 have longitudinal channels in the lower portion, preferably machined.

The front connecting plate 346 has a disk shape with a circular through hole in the center, and is preferably formed by punching a medium carbon steel plate. The fixed connection of the front link plate 346 to the front end of the return spring 348 at the rear surface and to the rear riser of the drive plate 344 at the front surface is preferably made by fasteners. The guide rod 347 is a horizontal longitudinal rod, preferably a medium carbon steel wire, formed by cutting, and is fixedly connected, preferably welded or riveted, at its front end to the rear riser of the drive plate 344.

The return spring 348 is preferably an existing cylindrical coil spring product. The rear connecting disk 349 is a disk-shaped structure with a circular through hole in the center, and is preferably made of the same material and process as the front connecting disk 346. The fixed connection of the rear connecting disk 349 to the return spring 348 on the front side and to the rear end plate of the transverse connecting plate 342 on the rear side of the vertical bent plate are preferably realized by fasteners. The pull rod 35 is a horizontal transverse straight rod, preferably a medium carbon steel round tube, which is formed by cutting. The fixed connection of the draw bar 35 with the upper end of the binding rope 5 in the middle and the fixed connection with the front end of the side rope 7 at the left and right ends thereof are preferably realized by fasteners.

The limiting frame 36 is a horizontal longitudinal bent plate, both the front end and the rear end of the limiting frame are bent downwards, and preferably, an aluminum alloy plate is formed by stamping. The fixing connection between the front and rear ends of the limiting frame 36 and the upper surface of the longitudinal beam 31 is preferably realized through a fastener. The balance spring 37 is an extension spring, preferably an existing cylindrical spiral spring with a hook at the end part; the fixed connection of the balancing spring 37 at the front end to the tie rod 35 and at the rear end to the cross member 38 is preferably realized by means of a hook thereof.

Fig. 6 is an enlarged view of the side cord 7 at the position of the dotted oval in fig. 1, showing the structure and relative positions of the end surface of the cross beam 38, the upper cord pulley 381, the side cord 7, the lower cord pulley 71 and the strap 43. The cross beam 38 is a horizontal transverse straight beam, preferably an aluminum alloy square tube profile, and is formed by cutting. The upper sheave 381 is a circular sheave with a sheave hole in the center, preferably implemented by existing sheave products. The upper rope sheave 381 is fixedly installed at the left end and the right end of the cross beam 38, preferably, the vertical beam 32 is installed with a roller with a connecting rod, and the installation can be realized by using the existing square pipe connecting piece and a fastening piece. The cross bar 39 is a horizontal transverse straight bar, preferably an aluminum alloy square tube section with a smaller cross-sectional size than the cross beam 38, and is formed by cutting. The transverse beams 38 and the transverse beams 39 are fixedly connected to the longitudinal beams 31 on both the left and right sides, preferably by means of existing square tube connectors (also called pipe joints or fasteners).

The clamping box 4 is a rectangular box structure with a downward opening, and comprises a hard outer shell 41 and an elastic inner liner 42, and a binding band 43 is arranged between the outer shell 41 and the inner liner 42. The housing 41 is a rigid structure, preferably injection molded from engineering plastic. The inner lining 42 is elastic, preferably made of synthetic rubber material by die forming, and is preferably reinforced by adding cord or fiber to the inner part of the inner lining 42.

The strap 43 is a loop-shaped flexible strap, preferably an existing cargo strapping or strapping product, sewn into a loop shape. The binding band 43 is located between the outer shell 41 and the inner lining 42 on the side of the clasping box 4 and can move relative to the outer shell 41 and the inner lining 42; to reduce friction, the strap 43 is preferably threaded through a flexible fabric hose that is sewn to the outer surface of the liner 42. The side grooves 44 and the central holes 47 extend vertically through the outer shell 41 and the inner liner 42, preferably during the forming process of the outer shell 41 and the inner liner 42.

The connecting member 45 has a square-truncated-cone-shaped structure, and is fixedly connected to the upper surface of the housing 41 at the bottom surface, preferably obtained by molding the housing 41. The connecting piece 45 is provided with a through hole along the horizontal direction, and the through hole penetrates through the longitudinal beam 31 or the cross bar 39 of the locking frame 3, so that the clamping box 4 is fixedly connected with the locking frame 3; therefore, the connecting member 45 preferably adopts the structural design of the existing square pipe connecting member and is formed by injection molding of engineering plastics. The connecting member 45 is preferably a split structure at a through hole portion thereof, and is fastened by a screw after passing through the longitudinal member 31 or the cross member 39.

The rivet 46 penetrates through the outer shell 41 and the inner lining 42 to fix the inner lining 42 to the inner surface of the outer shell 41; accordingly, the rivets 46 are preferably conventional aluminum rivet products, preferably using conventional metal shims to protect the inner surface of the liner 42 during the riveting process. The binding rope 5, the control rope 6 and the side rope 7 are flexible ropes, preferably realized by the existing steel wire rope products.

According to the flexible clamping and holding method, a vibration sensor is arranged on a clamping and holding box 4 of the special AGV, and a tension sensor is arranged at the fixed connection position of the upper end of the binding rope 5 and the pull rod 35. The vibration sensor is preferably an existing vibration sensor product and is fixedly mounted on the clamping and holding box 4 through a fastener. The tension sensor is preferably an existing tension sensor product and is fixedly installed at a fixed connection position of the upper end of the binding rope 5 and the pull rod 35 according to the structure thereof. The special AGV can also be equipped with a pressure sensor, an inertial sensor or other sensors, all preferably products of the prior art, if necessary, and implemented by means of conventional technologies in the art.

In addition, the fastener for realizing the fixed connection or the fixed installation is preferably an existing screw, bolt, nut, washer or other fastener, and the fastener can also be customized; this is a conventional technique well known to those skilled in the art and will not be described in detail. The above embodiments are merely preferred embodiments of the present invention, and are not intended to limit the present invention. It is within the scope of the present invention to modify the materials and fabrication processes while still meeting the structural and performance requirements of the present invention.

Claims

1. The utility model provides a special AGV of whole buttress turnover case of transport in storehouse, contains automobile body (1), portal (2), lock solid frame (3) and presss from both sides and embrace case (4), its characterized in that: with a binding rope (5) and a control rope (6);

the vehicle body (1) comprises a vehicle body (12), and a winch (15) is arranged on the vehicle body (12);

the winch (15) winds the binding rope (5) and the control rope (6) so that the binding rope (5) and the control rope (6) can be wound and released, the upper and lower positions of the locking frame (3) and the clamping and holding box (4) are controlled, and clamping and holding force is generated;

the winch (15) releases one of the binding rope (5) and the control rope (6) while the other is being reeled in;

the portal (2) is a portal frame, is arranged on the vehicle body (12), comprises a vertical rail (21) and is provided with an upper pulley (22);

the vertical rails (21) form a rail to limit the lifting running track and position of the locking frame (3) and realize flexible clamping of the entire stack of turnover boxes;

-the upper pulley (22) passes around the control rope (6) to define an upper limit position of the control rope (6);

the locking frame (3) is fixedly connected with the clamping and holding box (4), is in rolling connection with the vertical rail (21), and can move up and down;

the locking frame (3) is connected with the control rope (6), so that the control rope (6) can regulate and control the upper and lower positions of the locking frame (3) and the clamping and holding box (4);

the locking frame (3) is connected with the binding rope (5), so that the binding rope (5) can be bound, and the clamping force of the clamping and holding box (4) is regulated and controlled;

the lower part of the rear surface of the vehicle body (12) is provided with a lower pulley (13); the lower pulley (13) is passed around the lashing rope (5) to define a lower limit position of the lashing rope (5).

2. The special AGV that carries a whole pile of turnover case in storehouse according to claim 1, characterized in that: the lower part of the rear surface of the vehicle body (12) is provided with an adjusting rod (14);

the lower pulley (13) is fixedly arranged at the lower end of the adjusting rod (14);

the adjusting rod (14) is of a vertical rod-shaped structure and provides fixing and supporting for the lower pulley (13);

the adjusting rod (14) can stretch out and draw back to adjust the upper position and the lower position of the lower pulley (13) so as to adjust the binding force of the binding rope (5) and adjust the obtained clamping force.

3. The AGV of claim 1 for transporting a stack of containers within a library, wherein: the winch (15) comprises two winding drums, and the binding rope (5) and the control rope (6) are wound on the two winding drums in opposite directions;

the two drums are coaxially mounted to the winch (15) and can rotate synchronously.

4. The special AGV that carries a whole pile of turnover case in storehouse according to claim 1, characterized in that: the locking frame (3) is a T-shaped three-dimensional frame and comprises a longitudinal beam (31), a vertical beam (32), a connecting frame (33), a locking mechanism (34) and a pull rod (35);

the longitudinal beams (31) are a left horizontal longitudinal straight beam and a right horizontal longitudinal straight beam, and are fixedly connected with the clamping and holding box (4) into a whole;

the vertical beams (32) are two vertical beams at the left and right, are fixedly connected with the front ends of the longitudinal beams (31), are in rolling connection with the vertical rails (21), and can move up and down;

the connecting frame (33) is of a transversely vertical frame-shaped structure, and the middle part of the connecting frame is elastically connected with the upper end of the control rope (6) to avoid impact, shaking and loosening; the binding rope bypasses the binding rope (5), is in rolling connection with the locking mechanism (34) at two ends and obtains limiting, so that the binding rope (5) and the upper end of the control rope (6) obtain rolling connection and limiting;

the pull rod (35) is a horizontal transverse straight rod and is fixedly connected with the upper end of the binding rope (5), so that the binding rope (5) can drive the pull rod (35) to move forwards, the binding rope (5) can be bound, and the clamping force of the clamping and embracing box (4) can be regulated and controlled.

5. The special AGV that carries a whole pile of turnover case in storehouse according to claim 4, characterized in that: the locking mechanism (34) is mounted at the front part of the longitudinal beam (31), abuts against and presses the rear surface of the vertical rail (21) by utilizing the connecting frame (33) under the control of the binding rope (5), so that the gap is eliminated, and the vertical rail (21) is locked relative to the gantry (2), thereby improving the stability in the carrying process;

the locking mechanism (34) can be actively withdrawn from the abutting joint with the rear surface of the vertical rail (21) and limits the upper position and the lower position of the connecting frame (33), so that the locking frame (3) and the clamping and holding box (4) can ascend and descend relative to the vertical rail (21).

6. The AGV special for transporting a whole stack of turnover boxes in a warehouse according to claim 4, wherein: the locking frame (3) comprises a balance spring (37) and a cross beam (38);

the special AGV is provided with a side rope (7);

the left end and the right end of the pull rod (35) are fixedly connected with the front end of the side rope (7);

the balance spring (37) is an extension spring, is fixedly connected with the pull rod (35) at the front end and is fixedly connected with the cross beam (38) at the rear end, and can balance the tension of the binding rope (5) on the pull rod (35) so that the pull rod (35) can automatically return;

the transverse beam (38) is a horizontal transverse straight beam, the left side and the right side of the transverse beam are fixedly connected with the longitudinal beam (31), the left end and the right end of the transverse beam are respectively provided with an upper rope wheel (381), and the upper rope wheel (381) bypasses the side rope (7), so that the side rope (7) can roll relative to the transverse beam (38);

the lower end of the side rope (7) is provided with a lower rope wheel (71), so that the pull rod (35) moves forward to drive the lower rope wheel (71) to ascend.

7. The AGV of claim 6 for transporting a stack of containers within a library, wherein: the clamping box (4) is of a rectangular box body structure with a downward opening, and comprises a hard shell (41) and an elastic lining (42), and a binding band (43) is arranged between the shell (41) and the lining (42);

the clamping and holding box (4) can be buckled into the top of a whole stack of turnover boxes to accommodate the turnover boxes, and flexible clamping and holding effects and shaking damping are achieved through the lining (42) and the binding bands (43);

the binding bands (43) are ring-shaped flexible bands which can be tightened to cause the liner (42) to deform and contract inwards, so as to produce a flexible clamping effect on the accommodated turnover box.

8. The AGV of claim 7 for transporting a stack of containers within a library, wherein: the binding band (43) is bent upwards to wind around the lower rope wheel (71) of the side rope (7), and when the lower rope wheel (71) moves upwards, the binding band can be tightened to obtain a flexible clamping effect and shake damping.

9. The special AGV that carries a whole pile of turnover case in storehouse according to claim 7, characterized in that: the side surface of the clamping and holding box (4) is provided with a rivet (46);

the rivet (46) penetrates through the outer shell (41) and the inner lining (42) to fix the inner lining (42) to the inner surface of the outer shell (41);

rivet (46) are located at least the front and back both sides face of shell (41), prescribe a limit to the upper and lower position of bandage (43), make bandage (43) when tightening up, can produce along the horizontal direction press from both sides power of embracing, drive inside lining (42) produce the flexible clamp in the horizontal direction to the turnover case of holding and embrace the effect, automatically adapt to the angular deviation and the skew deviation of whole buttress turnover case, obtain the flexible clamp and embrace the effect and rock the damping.

10. A flexible clamping method for a whole stack of turnover boxes, which is used for the special AGV according to claim 2, and is characterized in that: the following models were built and stored:

firstly, the serial number of the turnover box is recorded asm(ii) a The number of the turnover boxes of the whole stack of turnover boxes is recorded asn(ii) a Obtain the vibration intensity of the whole stack transfer box process and record the vibration intensityk；

Obtaining the binding force of the binding rope (5) and recording the binding force asf(ii) a Design of the specific AGVfRated maximum, recorded asmaxf；

Obtaining position coordinates, notedx,y)；

Recording and storingk(m,n,x,y) Andf(m,n,x,y)；

wherein,k(m,n,x,y) For carrying model number ofmOf a quantity ofnThe whole stack of turnover boxes has a pass coordinate of (x,y) The vibration intensity at the position of (a);f(m,n,x,y) For carrying model number ofmOf a quantity ofnThe whole stack of turnover boxes has a pass coordinate of (x,y) The binding force at the position of (a);

second, adopt special AGV carries out the transport experiment in the warehouse to recordk(m,n,x,y) Andf (m,n,x,y)；

the maximum vibration intensity to ensure stability and safety during transportation was observed and recorded asmaxk(m,n) And the minimum binding force at that time is obtained and is recorded asminf(m,n)；

Observation of the minimum vibration intensity affecting stability and safety during transportation, recorded asVk(m,n) (ii) a And storeVk(m,n)；

The flexible clamping method comprises the following steps:

first, planning a carrying route before carrying for the first time in a warehouse, and obtaining a position coordinate sequencex,y,iTherein ofiA position coordinate serial number of the carrying route;

respectively record and storemaxk(m,n,x,y,i) Andminf (m,n,x,y,i)；

wherein,maxk(m,n,x,y,i) For carrying model number ofmIn an amount ofnThe whole stack of turnover boxes passes through the first conveying routeiA coordinate is (x,y) Maximum vibration intensity at the location of (a);minf (m,n,x,y,i) For carrying model number ofmIn an amount ofnThe whole stack of turnover boxes passes through the first conveying routeiA coordinate is (x,y) The minimum binding force at the position of (a);

maxk(m,n,x,y,i) Is set tomaxk(m,n)，minf (m,n,x,y,i) Is set tominf(m,n)；

Secondly, carrying out carrying operation along a planned carrying route in the warehouse by adopting the special AGV;

the adjusting rod (14) is controlled to stretch and retract, and the upper position and the lower position of the lower pulley (13) are adjusted and controlled, so that the binding force of the binding rope (5) isminf(m,n,x,y,i) (ii) a And record in real timek(m,n,x,y,i) Andf (m,n,x,y,i)；

wherein,k(m,n,x,y,i) For carrying model number ofmIn an amount ofnThe whole stack of turnover boxes passes through the first conveying pathiA coordinate is (x,y) The vibration intensity at the position of (a);f (m,n,x,y,i) For carrying model number ofmOf a quantity ofnThe whole stack of turnover boxes passes through the first conveying routeiA coordinate of: (x,y) The binding force at the position of (a);

if it isk(m,n,x,y,i)≥Vk(m,n)– stepkBraking and alarming are carried out, so that the stability and the safety are prevented from being influenced;

in the third step, ifk(m,n,x,y,i)−maxk(m,n,x,y,i)≥stepk and f(m,n,x,y,i) + stepf≤maxfThen give an orderminf (m,n,x,y,i)= f (m,n,x,y,i) + stepfAnd store itminf (m,n,x,y,i)；

If it ismaxk(m,n,x,y,i) −k(m,n,x,y,i)> stepk and f(m,n,x,y,i) – stepf>0, then orderminf (m,n,x,y,i)= f (m,n,x,y,i) − stepfAnd storeminf (m,n,x,y,i)；

Wherein,stepkfor the step of adjustment of the intensity of the vibration,stepfthe step length of the binding force is adjusted.