CN115771582A - AGV trolley for transporting anode plates - Google Patents

Abstract

The invention discloses an AGV (automatic guided vehicle) for transporting an anode plate, which comprises an AGV, wherein a sensing control assembly is arranged at the top of the AGV, a carrying frame is arranged on two sides of the sensing control assembly, mileometers are fixedly arranged at two ends of the sensing control assembly, laser obstacle sensors are fixedly arranged at four corners of the sensing control assembly, and sound and light alarm devices are fixedly arranged at two ends of the sensing control assembly. According to the invention, the intelligent transportation system is convenient to adopt when the anode plates are transported by arranging the sensing control assembly, the outdoor heavy-load AGV is planned to be adopted by the transportation equipment, the AGV senses that the anode plates are arranged at the copper outlet of the unit through signal transmission, the goods are automatically taken from the copper outlet, the AGV trolley automatically bears the anode plates according to instructions and transports the anode plates to a storage yard outside an electrolytic workshop along an appointed route, so that the AGV walks to an appointed place at the copper outlet station of the anode plates, the anode plates are placed on the AGV, a groove is formed, the AGV runs out of a stacking position, and the AGV drives to the electrolytic workshop after loading and stacking the anode plates.

Description

AGV trolley for transporting anode plates

Technical Field

The invention relates to the technical field of AGV trolleys, in particular to an AGV trolley for transporting an anode plate.

Background

Copper industry refining shop disc casting unit discharge gate separates a factory's trunk road with the electrolysis shop, at a distance of nearly three hundred meters, and the process flow design is that after the manual work takes out the anode plate from the disc casting unit, places the yard outside the refining shop, and another group of fork truck transports interim yard anode plate to the yard outside the electrolysis shop, and the third group fork truck carries the anode plate to the electrolysis shop material loading mouth from the yard outside the electrolysis shop according to production needs. The project realizes the automation of the whole transferring process of the anode plate from the refining workshop to the electrolysis workshop by combining the computer, the industrial control, the 5G wireless network and the modern logistics technology, improves the transferring efficiency through intelligent scheduling, and ensures the continuous production operation of the electrolysis workshop.

In the prior art, for example, chinese patent numbers are: CN113023620A, relating to an AGV. The AGV dolly includes: a chassis; the traveling mechanism is arranged on the chassis to realize the traveling of the AGV; and the supporting component comprises a tray, a rotary component and a lifting mechanism, the tray is connected with the lifting mechanism through the rotary component, the lifting mechanism is arranged on the chassis and comprises a lifting driving mechanism and a lifting mechanism, the lifting driving mechanism is connected with the rotary component through the lifting mechanism in a driving mode to drive the rotary component and the tray to lift, and the rotary component drives the tray to rotate relative to the chassis. Based on this, the performance of the AGV may be improved.

In the prior art, the conventional workshop transfer trolley needs manual operation, and needs to be subjected to repeated handover and switching in the transfer process, so that the overall transfer efficiency is reduced in the use process, the working progress of the whole workshop is influenced, the safety of the conventional trolley in the operation process is guaranteed to have a great problem, the danger of collision and the like in the operation process is easy, and the AGV trolley is provided for solving the problems.

Disclosure of Invention

The invention aims to provide an AGV (automatic guided vehicle) to solve the problems that in the prior art, a workshop transfer vehicle needs manual operation and needs to be subjected to repeated cross-connection and transfer in the transfer process, so that the overall transfer efficiency is reduced in the use process, the working progress of the whole workshop is influenced, the safety of the conventional AGV in the operation process is ensured to be very high, and the danger such as collision is easy to occur in the operation process.

In order to achieve the purpose, the invention provides the following technical scheme: an AGV for transporting an anode plate comprises the AGV, wherein a sensing control assembly is arranged at the top of the AGV, a carrying frame is arranged on two sides of the sensing control assembly, mileometers are fixedly arranged at two ends of the sensing control assembly, laser obstacle sensors are fixedly arranged at four corners of the sensing control assembly, and sound and light alarm devices are fixedly arranged at two ends of the sensing control assembly;

the top fixed mounting of delivery frame has the crane, the inboard of crane is provided with lift threaded rod, the outer wall threaded connection of lift threaded rod has the lift slider, the side of lift slider is provided with the delivery board, the delivery board sets up the inboard at the delivery frame, the top movable mounting of delivery board has the translation bracket.

Preferably, the one end fixed mounting of AGV dolly has touch LCD, the one end fixed mounting of AGV dolly has control panel, control panel sets up in touch LCD's side.

Preferably, AGV dolly both sides movable mounting has the rubber tyer, the inboard of AGV dolly is provided with the transmission gear axle, the one end of transmission gear axle is connected with the one end of rubber tyer.

Preferably, the inside of AGV dolly is provided with drive assembly, drive assembly's one end and drive gear shaft are connected through gear engagement between.

Preferably, an industrial computer is arranged on the inner side of the AGV, and the top of the industrial computer is connected with the bottom of the sensing control assembly.

Preferably, the top both sides fixed mounting of AGV dolly has end shoring mechanism, the bottom both sides at sensing control assembly are connected at the top of end shoring mechanism, the both sides of AGV dolly all are provided with the side footboard.

Preferably, both sides of the sensing control assembly are fixedly provided with side supporting strips, the tops of the top supporting frames of the side supporting strips are connected, four corners of the sensing control assembly are fixedly provided with supporting seats, and the bottom of the laser obstacle sensor is connected to the inner side of the supporting seats.

Preferably, the bottom of the consignment frame is provided with two lifting motors, the top of each lifting motor penetrates through the top of the consignment frame, the top of each lifting motor is connected with the bottom of each lifting threaded rod, each lifting groove is formed in the side face of each lifting frame, each lifting threaded rod is arranged on the inner side of each lifting groove, the two sides of each consignment plate are penetrated through and provided with transverse sliding chutes, each transverse sliding chute is internally provided with a translation threaded rod, the outer wall of each translation threaded rod is in threaded connection with the bottom of each translation bracket, one end of each translation threaded rod penetrates through one end of each consignment plate, one end of each translation threaded rod is connected with a translation motor, and one end of each translation motor is fixedly connected with one end of each consignment plate.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, the sensing control assembly is arranged on the top of the AGV, the odometers are arranged at two ends of the sensing control assembly, the laser obstacle sensors are arranged at four corners of the sensing control assembly, the four acousto-optic alarm devices are arranged at two ends of the sensing control assembly, the sensing control assembly is communicated with the industrial computer and is electrically communicated with the components of the AGV, so that an intelligent transportation system is convenient to adopt when the anode plate is transported, the transporting equipment plans to adopt an outdoor heavy-load AGV, the AGV senses that the anode plate is at a copper outlet of the unit through signal transmission and automatically gets goods from the copper outlet, the AGV automatically bears the anode plate to be transported to a storage yard outside an electrolytic workshop along an appointed route according to an instruction, the AGV travels to an appointed place at the copper outlet station of the anode plate, the anode plate is placed on the AGV, a groove is placed, the AGV runs out a stack position, the AGV drives to the electrolytic workshop after loading the stack, the efficiency of transportation is effectively improved, and the safety of the AGV during transportation is facilitated by adopting the laser obstacle-avoiding sensor and the acousto-optic alarm devices, and the collision condition of the AGV.

2. According to the invention, the delivery frame is arranged on two sides of the sensing control assembly, the bottom of the delivery frame is connected to the lifting threaded rod on the inner side of the delivery frame through the lifting motor, the lifting slider is connected to the inner side of the delivery frame through the lifting threaded rod in a threaded manner, the delivery plate is arranged, the two translation brackets are arranged on the top of the delivery plate and are connected and driven through the translation threaded rod and the translation motor, so that the lifting threaded rod can be driven to rotate through the transmission of the lifting motor in the use process, the height of the delivery plate is further driven to be adjusted, after the appropriate height is adjusted, the translation threaded rod is driven to rotate through the translation motor, the translation brackets are transversely translated and further inserted into the bottom of the anode plate to be delivered, the delivery plate is driven to be lifted again through the rotation of the lifting motor, then the translation motor rotates, the translation brackets are driven to shrink, the translation brackets can be separated from the anode plate for rapid delivery, the anode plate is transferred to the designated position, and then the anode plate is placed on the contrary, and effective delivery work can be realized according to different position height requirements, the efficiency of the anode plate is improved, and manual operation is greatly reduced.

Drawings

FIG. 1 is a perspective view of an AGV of the present invention;

FIG. 2 is another schematic perspective view of an AGV configuration of the present invention;

FIG. 3 is a schematic diagram of a configuration of a carrier for an AGV according to the present invention;

FIG. 4 is a schematic diagram of the configuration of a pallet for an AGV cart of the present invention;

FIG. 5 is a schematic diagram of a portion of an AGV according to the present invention;

FIG. 6 is a schematic diagram of an exploded view of an AGV of the present invention.

In the figure:

1. an AGV trolley; 2. a sensing control component; 3. a consignment rack; 11. a touch liquid crystal display; 12. a control panel; 13. a rubber wheel; 14. a drive gear shaft; 15. a drive assembly; 16. a bottom bracing mechanism; 17. a side pedal; 18. an industrial computer; 21. an odometer; 22. a laser obstacle sensor; 23. an audible and visual alarm device; 24. side supporting strips; 25. a supporting seat; 31. a lifting motor; 32. a lifting frame; 33. a lifting groove; 34. lifting a threaded rod; 35. a lifting slide block; 36. a consignment board; 37. translating the threaded rod; 38. a translation carriage; 39. a translation motor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to FIGS. 1-6: an AGV trolley for transporting an anode plate comprises an AGV trolley 1, a sensing control assembly 2 is arranged at the top of the AGV trolley 1, a carrying frame 3 is arranged at two sides of the sensing control assembly 2, mileometers 21 are fixedly arranged at two ends of the sensing control assembly 2, laser obstacle sensors 22 are fixedly arranged at four corners of the sensing control assembly 2, sound and light alarm devices 23 are fixedly arranged at two ends of the sensing control assembly 2, the sensing control assembly 2 is arranged at the top of the AGV trolley 1, the mileometers 21 are arranged at two ends of the sensing control assembly 2, the laser obstacle sensors 22 are arranged at four corners of the sensing control assembly 2, four sound and light alarm devices 23 are arranged at two ends of the sensing control assembly 2, the sensing control assembly 2 is communicated with an industrial computer 18, and the components of the upper AGV trolley 1 are electrically communicated, thereby being convenient for adopting an intelligent transportation system when transferring the anode plates, the transfer equipment plan adopts an outdoor heavy-load AGV, the AGV senses that the anode plates are at a copper outlet of the unit through signal transmission, and automatically takes goods from the copper outlet, the AGV automatically bears the anode plates according to instructions and transports the anode plates to a yard outside an electrolytic workshop along a specified route, so that the AGV walks to a specified place at the copper outlet stations of the anode plates, the anode plates are placed on the AGV, a groove is placed, the AGV runs out a stacking position, the AGV drives to the electrolytic workshop after loading 2 stacks of anode plates, the efficiency of transferring is favorably and effectively improved, in addition, the safety during transferring is favorably improved by adopting a laser obstacle avoidance sensor and an acousto-optic warning device, and the collision condition is prevented; the working modes of the trolley are automatic and manual. And in the automatic mode, working according to the instruction of the scheduling system. When the device is in failure, a manual mode can be started to finish the carrying work or move out of an operation area, and the AGVGNSS navigation selects domestic Beidou navigation equipment. Laser obstacle sensor is equipped with on the AGV, can be divided into 6 detection area and adjust the detection distance, when detecting the area in when there being the barrier, the AGV can make speed reduction, parking action automatically, removes the back when the barrier, and the flexible anticollision that AGV automatic recovery walking has pedestrian's protective capacities in the place ahead installation of AGV touches the limit, guarantees that the striking can not produce the injury to the personnel. When the anti-collision touch edge contacts with the obstacle, the trolley stops immediately, and the walking needs to be manually recovered after the obstacle is removed. An acousto-optic alarm device is arranged above the AGV body, and the AGV can emit alarm lamp flashing and alarm sound in the driving process. The AGV is provided with an emergency stop button, and the button can be pressed under special conditions to enable the AGV to stop emergently. The AGV dolly is equipped with the offline protection function, and when the guide signal in route of traveling appeared unusually, the AGV parks immediately and sends out the offline warning to prevent that the AGV is out of control and causes the harm. The monitoring management system is the core of the intelligent AGV system and comprises intelligent AGV monitoring software, intelligent AGV dispatching interface software or industrial control I/O signals and required hardware. The intelligent AGV upper control system is used for monitoring the running state of the AGV system, fault diagnosis of the AGV system, an external data interaction function and the like in real time, and the intelligent AGV dispatching interface software is responsible for receiving, executing and conveying tasks to carry out unified management on the AGV equipment, dividing the received work plan into work instructions, and issuing the work instructions to the AGV equipment according to the grasped AGV state. The monitoring management system can monitor the operation state of the AGV equipment and the task plan execution condition in real time, such as the running speed of the AGV, the electric quantity monitoring, the abnormal state of the AGV, the task execution statistics, the abnormal record, the remote analysis and the like. The system reserves various interfaces, and uploads various information such as the working state, task statistics and the like of the whole system to a specified server in real time through a data interface; through the control interface, the interaction between the user production control system and the AGV monitoring system is realized, and the monitoring and task distribution of the AGV are realized. The intelligent AGV hardware safety protection system is divided into 4 levels. First heavy protection: adopt reputation warning device, suggestion staff notices and avoids intelligent AGV. When the intelligent AGV operates normally, the alarm lamp and the alarm buzzer are rotated to work, and sound and light warnings are sent out; when the vehicle turns, the steering lamp flickers; when braking, the brake lamp is turned on; when a fault occurs or a barrier is found, the intelligent AGV automatically gives out sound-light alarm and decelerates or stops. Meanwhile, the intelligent AGV monitoring system is informed through a wireless communication system. The intelligent AGV monitoring system displays the current state and the word prompt on the management monitoring machine. The monitoring personnel can instruct the field personnel to remove the fault or the obstacle according to the prompted information. The malfunctioning intelligent AGV may use a manual operator to maneuver the intelligent AGV out of the workspace to a safe position. And (4) second protection: and the laser obstacle avoidance sensor is adopted, so that the obstacle can be detected under the condition of no contact, and the intelligent AGV is decelerated and stopped. Barrier laser is kept away in installation of intelligence AGV diagonal angle, can realize 10m long detection distance. Braking after the obstacle in the range of 10m decelerates to run to 2 m; and sudden obstacles in the range of 2m are subjected to emergency braking. The safety detection range and the safety detection area can be reasonably adjusted according to the actual situation. And when the obstacle is removed, the intelligent AGV automatically starts to continue to operate. The safety area of the laser is shown in the following graph, the yellow area is a deceleration area, and once an object appears in the yellow area, the intelligent AGV decelerates; the red area is an emergency stop area, once an object appears in the red area, the intelligent AGV can immediately brake and stop, and when the object is removed, the intelligent AGV can resume running. And (3) third protection: the intelligent AGV is provided with bumpers at the lower ends of the head and the tail of the vehicle. When the barrier touches the bumper, the intelligent AGV can take braking measures and stop running. After the front barrier or the side pedestrian moves away, the intelligent AGV automatically starts to continue to operate. And fourth protection: the two sides of the car body are provided with four emergency stop switches, and when the intelligent AGV deviates from a track or is out of normal work due to emergency, the intelligent AGV can stop running by pressing the emergency stop switches. The automobile data recorder is installed in the front and back directions of the intelligent AGV, video information of relevant road conditions such as external robots, pedestrians and barriers in the running process of the intelligent AGV is recorded in real time, and a basis is provided for follow-up management and promotion. Protection of intelligent AGV software: the intelligent AGV has the protection of deviating navigation lines, coordinate loss, part failure, communication failure, robot loss, low power and the like. The robot stops running immediately when the above situation occurs. The navigation system adopts a GNSS + laser + odometer combined navigation mode, seamless connection can be realized according to actual environment requirements, and the working reliability of the navigation system is ensured. The main implementation mode is as follows: GNSS is used for position location in open, well-behaved areas and to provide real-time position. In the area with poor GNSS positioning performance caused by shielding, a laser and odometer mode is used for accurate positioning. The differential GNSS guidance working principle is adopted, a full-constellation full-system BDS GPS GLONASS Galileo positioning and direction-finding technology is adopted, and a multi-sensor data fusion technology combines satellite positioning and inertial measurement to provide accurate attitude and centimeter-level position information. The full system multi-frequency scheme is adopted in the aspect of satellite positioning, and the method has the advantages of all weather, global coverage, high precision, high efficiency, wide application and the like. Aiming at the conditions that satellite signals are easily shielded by buildings and multipath interference, the MEMS gyroscope and the accelerometer are fused, the reliability, the accuracy and the dynamic property of the system are greatly improved, information such as high-precision carrier position, posture, speed and sensors is provided in real time, and the navigation application requirements of long time, high precision and high reliability under the complex environment of a dense factory area of workshops are met. The GNSS is less influenced by weather, and meets the requirements of indoor and outdoor except for all-weather extremely severe weather. Laser + odometer navigation laser positioning sets a rough initial position for the cart by specifying the starting point, or in the form of GNSS supplied initial values. And then, carrying out ndt registration on the point cloud obtained by laser scanning and the existing map point cloud, and obtaining a transformation matrix of the actual pose and the initial pose of the trolley after registration so as to calculate the accurate pose of the trolley in the current map. Meanwhile, according to the position, the coordinates of the reflecting column are calculated through the intensity information of the laser, the coordinates are compared with the existing coordinates of the reflecting column, the positioning is successful if the error is within a reasonable range, otherwise, the positioning is failed, and the positioning retry is carried out. And after the retry is unsuccessful for many times, the alarm positioning is lost. After the positioning is successful, before the next updating, the displacement of the odometer is used as the displacement of the trolley, and when the next updating is carried out, the coordinates of the trolley on which the displacement of the odometer is superposed are used as initial coordinates, and the steps are repeated, so that the whole set of positioning process of 'motion estimation-observation updating' of the trolley is realized. By optimizing the filtering control, the indoor and outdoor all-weather extremely severe weather is satisfied. The local precise positioning technology is used for precisely positioning the vehicle body, such as butt-joint trusses and the like. Because the positioning accuracy requirement is high, and the surrounding environment has the possibility of changing, a certain true value is needed to assist the positioning. Reflective columns are often used as a reliable truth for aiding positioning. And calculating the current position of the vehicle body by identifying the reflective columns. The main implementation mode is as follows: the reflective columns are used as local reliable information and are detected during positioning. Firstly, judging whether the reflective column is near a predicted position or not according to an initial position, if so, indicating that the reflective column is correct, and calculating the pose of the vehicle body according to the pose of the reflective column to be used as accurate positioning; if not, the error identification or the error initial pose of the reflective column is indicated, the reflective column is re-extracted, and an error is reported after the repeated detection fails.

The top fixed mounting of delivery frame 3 has crane 32, the inboard of crane 32 is provided with lift threaded rod 34, the outer wall threaded connection of lift threaded rod 34 has lift slider 35, the side of lift slider 35 is provided with delivery board 36, delivery board 36 sets up the inboard at delivery frame 3, the top movable mounting of delivery board 36 has translation bracket 38, through installing delivery frame 3 in the both sides of sensing control subassembly 2, connect on the lift threaded rod 34 of delivery frame 3 inboard through elevator motor 31 in the bottom of delivery frame 3, and in the inboard of delivery frame 3 through lift threaded rod 34 threaded connection lift slider 35 and install delivery board 36, be provided with two translation brackets 38 at the top of delivery board 36 and connect the transmission through translation threaded rod 37 and translation motor 39, thereby made things convenient for in-process in use, accessible elevator motor 31 transmission drives lift threaded rod 34 to rotate and then drive the height of delivery board 36 to adjust, after adjusting to suitable height, then drive translation threaded rod 37 to rotate so that translation 38 horizontal translation is made through translation motor 39, and then insert the rotation that needs the delivery board of the transportation of the lift threaded rod 34 to rotate and then drive anode plate 36 to carry out of the translation, the operation once more, can realize the efficiency of the quick transportation according to the transport, the transport operation of the lift motor 39 is reduced again, the efficiency of the transport efficiency again, otherwise, the transport of the transport anode plate can be realized according to the transport efficiency again, the transport efficiency that the manual work of the transport efficiency is reduced again, the transport efficiency is pointed that the transport motor 39 is put, the transport motor is put, the transport efficiency is realized.

As shown in fig. 5, one end of the AGV 1 is fixedly provided with a touch liquid crystal display 11, one end of the AGV 1 is fixedly provided with a control panel 12, the control panel 12 is arranged at the side of the touch liquid crystal display 11 and is provided with the touch liquid crystal display 11, so that the running state of the whole vehicle can be realized; is provided with a Chinese operating interface. The control panel 12 can be used to implement the functions of manually operating and executing the equipment state, setting the system parameters, and recognizing the working state.

As shown in fig. 6, rubber wheels 13 are movably mounted on two sides of the AGV 1, a transmission gear shaft 14 is arranged on the inner side of the AGV 1, one end of the transmission gear shaft 14 is connected with one end of the rubber wheel 13, the AGV is transported by using the rubber wheel 13, the AGV is suitable for outdoor environment, and the transmission gear shaft 14 can realize stable transmission when moving.

As shown in fig. 6, a driving assembly 15 is disposed inside the AGV 1, one end of the driving assembly 15 is engaged with the transmission gear shaft 14 through a gear, and the power source of the driving assembly 15 is transmitted to the transmission gear shaft 14 to drive the rubber wheel 13 to move.

As shown in FIG. 6, the inside of the AGV 1 is provided with an industrial computer 18, the top of the industrial computer 18 is connected with the bottom of the sensing control assembly 2, and the industrial computer 18 is arranged inside the AGV to control the running state of the whole AGV.

As shown in fig. 6, bottom bracing mechanisms 16 are fixedly mounted on two sides of the top of the AGV trolley 1, the top of each bottom bracing mechanism 16 is connected to two sides of the bottom of the sensing control assembly 2, side pedals 17 are arranged on two sides of the AGV trolley 1, the bottom bracing mechanisms 16 are mounted on the AGV trolley 1 to provide mounting and supporting functions for the bottom of the sensing control assembly 2, and the side pedals 17 can provide a function of facilitating taking by a side station.

As shown in fig. 5 and 6, the two sides of the sensing control assembly 2 are fixedly provided with side supporting strips 24, the tops of the top supporting frames 3 of the side supporting strips 24 are connected, the four corners of the sensing control assembly 2 are fixedly provided with supporting seats 25, the bottom of the laser obstacle sensor 22 is connected to the inner side of the supporting seats 25, the supporting frames 3 can be stably installed through the side supporting strips 24, and the supporting seats 25 facilitate installation of the laser obstacle sensor 22.

As shown in fig. 3 and 4, two lifting motors 31 are disposed at the bottom of the supporting frame 3, the top of each lifting motor 31 penetrates through the top of the supporting frame 3, the top of each lifting motor 31 is connected with the bottom of each lifting threaded rod 34, a lifting groove 33 is disposed on the side surface of each lifting frame 32, each lifting threaded rod 34 is disposed on the inner side of each lifting groove 33, a transverse moving sliding groove is disposed on each side of each supporting plate 36, a translation threaded rod 37 is disposed on the inner side of each transverse moving sliding groove, the outer wall of each translation threaded rod 37 is in threaded connection with the bottom of each translation bracket 38, one end of each translation threaded rod 37 penetrates through one end of each supporting plate 36, one end of each translation threaded rod 37 is connected with a translation motor 39, one end of each translation motor 39 is fixedly connected with one end of each supporting plate 36, the lifting motors 31 can output transmission force to the lifting threaded rods 34, the lifting grooves 33 provide space for lifting movement of the lifting threaded rods 34 and the lifting sliders 35, the translation threaded rods 37 can cooperate with the translation motors 39 to drive the translation brackets 38 to move, and pulley supporting assemblies are further mounted at the bottoms of the translation brackets 38, so as to improve stability.

When the AGV trolley is used, firstly, the AGV plans to adopt a GNSS + laser + odometer combined navigation mode, and is transported by using the rubber wheels 13, so that the AGV trolley is suitable for outdoor environment. An industrial computer 18 is installed inside the AGV to control the running state of the whole vehicle. The touch liquid crystal display 11 is arranged, so that the running state of the whole vehicle can be realized; is provided with a Chinese operating interface. The functions of manually operating and executing the equipment state, setting system parameters, seeing the working state and the like can be realized through the control panel 12. The working modes of the trolley are automatic and manual. And in the automatic mode, working according to the instruction of the scheduling system. During the trouble, can start manual mode, accomplish transport work or shift out the operation region, domestic big dipper navigation equipment is chooseed for use in AGVGNSS navigation, laser obstacle sensor 22 is equipped with on the AGV, can divide into 6 detection area territories and adjust measuring distance, when detecting the regional internal obstacle, the AGV can make the speed reduction voluntarily, the action of stopping, after the obstacle removes, AGV automatic recovery walking has pedestrian's protective capability's flexible anticollision in AGV's the place ahead installation and touches the limit, guarantee that the striking can not produce the injury to the personnel. When the anti-collision touch edge contacts with the obstacle, the trolley stops immediately, and the walking needs to be manually recovered after the obstacle is removed. The AGV body is provided with an audible and visual alarm device 23, and the AGV trolley can emit alarm lamp flicker and alarm sound in the driving process. The AGV is provided with an emergency stop button, and the button can be pressed under special conditions to enable the AGV to stop emergently. The AGV dolly is equipped with the offline protection function, and when the guide signal in route of traveling appeared unusually, the AGV parks immediately and sends out the offline warning to prevent that the AGV is out of control and causes the harm.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.

Claims (8)

1. An AGV for anode plate transportation, comprising an AGV (1), characterized in that: the AGV comprises an AGV trolley (1), and is characterized in that a sensing control assembly (2) is arranged at the top of the AGV trolley (1), a carrying frame (3) is arranged on two sides of the sensing control assembly (2), mileometers (21) are fixedly arranged at two ends of the sensing control assembly (2), laser obstacle sensors (22) are fixedly arranged at four corners of the sensing control assembly (2), and acousto-optic alarm devices (23) are fixedly arranged at two ends of the sensing control assembly (2);

the top fixed mounting of consignment frame (3) has crane (32), the inboard of crane (32) is provided with lifting screw rod (34), the outer wall threaded connection of lifting screw rod (34) has lifting slide (35), the side of lifting slide (35) is provided with consignment board (36), consignment board (36) set up the inboard at consignment frame (3), the top movable mounting of consignment board (36) has translation bracket (38).

2. The AGV cart for anode plate transport of claim 1, further comprising: one end fixed mounting of AGV dolly (1) has touch LCD (11), the one end fixed mounting of AGV dolly (1) has control panel (12), control panel (12) set up the side at touch LCD (11).

3. The AGV cart for anode plate transport of claim 1, wherein: AGV dolly (1) both sides movable mounting has rubber tyer (13), the inboard of AGV dolly (1) is provided with drive gear axle (14), the one end of drive gear axle (14) is connected with the one end of rubber tyer (13).

4. An AGV cart for anode plate transport according to claim 3, wherein: the inside of AGV dolly (1) is provided with drive assembly (15), be connected through gear engagement between the one end of drive assembly (15) and drive gear axle (14).

5. The AGV cart for anode plate transport of claim 1, further comprising: the inside of AGV dolly (1) is provided with industrial computer (18), the top of industrial computer (18) is connected with the bottom of sensing control subassembly (2).

6. The AGV cart for anode plate transport of claim 1, further comprising: the AGV comprises an AGV trolley (1), wherein bottom supporting mechanisms (16) are fixedly arranged on two sides of the top of the AGV trolley (1), the top of each bottom supporting mechanism (16) is connected to two sides of the bottom of a sensing control assembly (2), and side pedals (17) are arranged on two sides of the AGV trolley (1).

7. The AGV cart for anode plate transport of claim 1, further comprising: the two sides of the sensing control assembly (2) are fixedly provided with side supporting strips (24), the tops of the top supporting frames (3) of the side supporting strips (24) are connected, four corners of the sensing control assembly (2) are fixedly provided with supporting seats (25), and the bottom of the laser obstacle sensor (22) is connected to the inner side of the supporting seats (25).

8. The AGV cart for anode plate transport of claim 1, further comprising: the bottom of the consignment frame (3) is provided with two lifting motors (31), the top of each lifting motor (31) penetrates through the top of the consignment frame (3), the top of each lifting motor (31) is connected with the bottom of a lifting threaded rod (34), a lifting groove (33) is formed in the side face of each lifting frame (32), each lifting threaded rod (34) is arranged on the inner side of each lifting groove (33), transverse sliding grooves are formed in the two sides of the consignment plate (36) in a penetrating mode, a translation threaded rod (37) is arranged on the inner side of each transverse sliding groove, the outer wall of each translation threaded rod (37) is in threaded connection with the bottom of each translation bracket (38), one end of each translation threaded rod (37) penetrates through one end of the consignment plate (36), one end of each translation threaded rod (37) is connected with a translation motor (39), and one end of each translation motor (39) is fixedly connected with one end of each consignment plate (36).

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