Efficient sorting AGV delivery mechanism

Abstract

The application relates to a high-efficiency sorting AGV (Automatic Guided Vehicle) unloading mechanism and relates to the field of intelligent storage, which comprises a rack and a driving mechanism for driving the rack to move, the rack is slidably connected with a fork in the vertical direction, the rack is provided with a lifting mechanism for driving the fork to lift, the fork comprises two groups of clamping arms which are parallel to each other, the two groups of clamping arms are each provided with a plurality of clamping components, and the clamping component comprises a clamping block, a feeding structure and a lifting structure. The rack adjusts the position of the fork by cooperating with the lifting mechanism through the driving mechanism, so that the container is located between the two clamping arms; subsequently, the feeding structure adjusts the position of the clamping block, so that the clamping block is moved into the groove on the side corresponding to the container; meanwhile, the lifting structure controls the clamping block to drive the container to ascend, so that the container is separated from the clamping state with the lower container, and single-box unloading can be realized at a high efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent warehousing, in particular to an efficient sorting AGV delivery mechanism. BACKGROUND

[0002] Warehouse storage is very common in various fields, involving material storage, management and distribution, etc. With the development of technology, the warehouse mode is gradually intelligent, and there are ways such as WMS warehouse management system for intelligent warehouse management. When the number of materials is large, intelligent management can improve the efficiency and accuracy of delivery; for special materials, it can also protect the integrity and confidentiality of archives.

[0003] REFERENCE Figure 1 A common cargo box, a groove 100 is arranged on the side wall of the cargo box for manual handling, and in order to improve the stability of the stacked cargo boxes, a clamping structure 200 is generally arranged between the cargo boxes for sliding up and down, which is used to limit the horizontal relative displacement between the cargo boxes.

[0004] The current common delivery method is completed by AGV forklift, the materials in the warehouse are stored in the cargo box, the cargo boxes are stacked in order and partitioned to facilitate the AGV forklift to quickly position the materials required for delivery. The current common traditional AGV forklift includes a chassis driving system and a liftable cargo fork, which extends into the lower part of the box stack and then lifts the entire stack of cargo boxes to move to the warehouse door for sorting and delivery.

[0005] For the related technology in the above, the traditional AGV needs to lift the entire stack of cargo boxes and move, and when only a single box needs to be delivered, manual delivery is required, which is low in delivery efficiency. SUMMARY

[0006] In order to improve the delivery efficiency, the present application provides an efficient sorting AGV delivery mechanism.

[0007] The present application provides an efficient sorting AGV delivery mechanism, which adopts the following technical scheme:

[0008] An efficient sorting AGV delivery mechanism, comprising a rack and a driving mechanism for driving the movement of the rack, the rack being slidably connected with a cargo fork in the vertical direction, the rack being provided with a lifting mechanism for driving the lifting of the cargo fork, the cargo fork comprising two groups of parallel clamping arms, the two groups of clamping arms being arranged along the width direction of the rack, and each of the two groups of clamping arms being provided with a plurality of clamping assemblies on the side close to each other, the clamping assembly comprising a clamping block for embedding into the groove of the cargo box, a feeding structure for changing the distance between the clamping block and the side wall of the cargo box, and a lifting structure for driving the lifting of the clamping block on the clamping arm.

[0009] By adopting the technical scheme, the rack adjusts the position of the fork by cooperating with the driving mechanism and the lifting mechanism, so that the box is located between the two clamping arms, then the feeding structure adjusts the position of the clamping block, so that the clamping block moves into the groove on the side of the box corresponding to the clamping block, and the lifting structure controls the clamping block to drive the box to rise, so that the box is separated from the clamping state with the lower box, and the single-box outbound can be realized with high efficiency.

[0010] Optionally, the lifting structure comprises a guide groove, the guide groove is inclined along the length direction of the clamping arm, the height of the guide groove gradually changes along the length direction of the guide groove, the clamping block is located in the guide groove and is slidably connected with the clamping arm along the length direction of the guide groove, and the feeding structure comprises a linear driving piece for driving the clamping block to slide along the length direction of the guide groove.

[0011] By adopting the technical scheme, the clamping block is located at the deepest and lowest end of the guide groove in the initial state, after the clamping arm moves to the side of the box, the linear driving piece controls the clamping block to slide along the length direction of the guide groove, the clamping block gradually moves into the groove on the side of the box while the height gradually increases, and then the support and lifting of the box are realized, and the structure is simple and the efficiency is higher.

[0012] Optionally, the rack is provided with a mechanical arm at the end away from the fork, a temporary storage rack for temporarily storing the box is arranged between the fork and the mechanical arm, and the fork is provided with a translation driving piece for driving the box to move above the temporary storage rack.

[0013] By adopting the technical scheme, if the single workpiece or part of the workpieces in the box needs to be outbound, the translation driving piece places the box on the temporary storage rack, and then the mechanical arm takes out the required workpiece, and the single workpiece outbound also has high efficiency.

[0014] Optionally, a visual positioning piece is arranged at the end effector of the mechanical arm.

[0015] By adopting the technical scheme, the visual positioning piece can quickly position the workpiece to be taken out after the end effector of the mechanical arm enters the box, so that the mechanical arm has higher outbound accuracy.

[0016] Optionally, a shielding box is fixedly arranged at the lower end of the rack, an RFID scanning piece for identifying the box is arranged in the shielding box, the temporary storage rack is located in the shielding box and is slidably connected with the shielding box in the vertical direction, the rack is provided with a lifting driving piece for controlling the lifting of the temporary storage rack, and an opening and closing door for the temporary storage rack to enter and exit is movably connected to the upper end of the shielding box.

[0017] By adopting the technical scheme, after the box is placed on the temporary storage rack, the temporary storage rack is lowered into the shielding box, the opening and closing door is closed to shield the interference signal, and the RFID scanning piece scans and identifies the box, which is helpful to improve the outbound accuracy.

[0018] Optionally, the clamping arm comprises a connecting portion in sliding connection with the rack and a supporting portion for supporting the clamping assembly, the supporting portion being in sliding connection with the connecting portion along the length direction of the clamping arm, and the translation driving member being arranged on the connecting portion.

[0019] By adopting the above technical solution, the translation driving member directly controls the clamping assembly to drive the container to move horizontally, and the structure is stable and has a longer service life.

[0020] Optionally, each of the clamping blocks is rotatably connected with a roller at an end away from the guide groove, and when the clamping block is located at the highest end of the guide groove, the rotary surface of the roller abuts against the top wall of the container groove.

[0021] By adopting the above technical solution, the rotary surface of the roller directly contacts the container, which can reduce the friction force tending to move the container horizontally when the clamping block slides along the guide groove to control the container to rise, and is beneficial to improve the stability of the container stack when a single container is discharged.

[0022] Optionally, the system further comprises a plurality of storage positions for temporarily storing the container stacks and a plurality of transfer devices for moving the container stacks to the storage positions.

[0023] By adopting the above technical solution, the storage positions are arranged at the exit of the warehouse, the transfer devices are used to transfer the container stacks of different specifications in the warehouse to the storage positions, and the rack quickly moves the required goods from the storage positions to the exit of the warehouse, thereby shortening the moving distance of the rack when discharging, and being beneficial to improve the discharging efficiency.

[0024] In summary, the present application has at least one of the following beneficial technical effects:

[0025] 1. The rack adjusts the position of the forks by cooperating with the driving mechanism and the lifting mechanism, so that the container is located between the two clamping arms, then the feeding structure adjusts the position of the clamping block, so that the clamping block moves into the groove on the corresponding side of the container, and the lifting structure controls the clamping block to lift the container, so that the container is separated from the clamping state with the lower container, and single container discharging can be realized with high efficiency;

[0026] 2. If a single workpiece or part of the workpieces in the container needs to be discharged, the translation driving member places the container on the temporary storage rack, and then the mechanical arm takes out the required workpiece, and single workpiece discharging also has high efficiency;

[0027] 3. The storage positions are arranged at the exit of the warehouse, the transfer devices are used to transfer the container stacks of different specifications in the warehouse to the storage positions, and the rack quickly moves the required goods from the storage positions to the exit of the warehouse, thereby shortening the moving distance of the rack when discharging, and being beneficial to improve the discharging efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a schematic view highlighting the position of the container groove and the clamping structure.

[0029] Figure 2 is a schematic diagram of the overall structure of an embodiment of the application.

[0030] Figure 3 is a schematic diagram of the overall structure of a fork of an embodiment of the application.

[0031] Figure 4 is a schematic diagram of the cross section of a support portion of an embodiment of the application.

[0032] Figure 5 is a schematic diagram of the structure of a translation drive of an embodiment of the application.

[0033] Figure 6 is a schematic diagram of the internal structure of a shielding box of an embodiment of the application.

[0034] Legend: 100, groove; 200, clamping structure; 1, rack; 11, lifting mechanism; 111, chain; 112, sprocket; 2, fork; 21, clamping arm; 211, connecting portion; 212, support portion; 22, clamping assembly; 221, clamping block; 222, guide slot; 223, roller; 224, linear drive; 23, translation drive; 231, gear; 232, rack; 3, shielding box; 31, opening and closing door; 32, RFID scanning piece; 33, lifting drive; 4, mechanical arm; 5, temporary storage rack. DETAILED DESCRIPTION

[0035] The application will be described in further detail below with reference to the accompanying drawings.

[0036] The application discloses a high-efficiency sorting AGV delivery mechanism.

[0037] Referring to Figure 2 , a high-efficiency sorting AGV delivery mechanism comprises a rack 1, a driving mechanism for driving the rack 1 to move in a warehouse, a fork 2 for supporting a cargo box, and a lifting mechanism 11 for driving the fork 2 to lift. The driving mechanism drives the rack 1 to move in front of a corresponding cargo box stack in the warehouse, and then the lifting mechanism 11 adjusts the height of the fork 2 to align with the required delivery cargo box, the fork 2 supports the corresponding cargo box, and then the driving mechanism drives the rack 1 to move to the warehouse outlet to complete the delivery.

[0038] Referring to Figure 2 , the driving mechanism can be the same as a common AGV, and the embodiment will not be described in detail. The driving mechanism drives the rack 1 to move in the warehouse, and then moves the rack 1 in front of the corresponding cargo box stack when delivery is required. The fork 2 comprises two horizontal and parallel clamping arms 21, each clamping arm 21 comprising a connecting portion 211 in sliding connection with the rack 1 and a support portion 212 for supporting the cargo box; the connecting portion 211 is in sliding connection with the rack 1 in the vertical direction.

[0039] Referring to Figure 2, the lifting mechanism 11 is achieved by two chains 111, each chain 111 is provided with two sprockets 112, both of which are rotatably connected with the rack 1 to tension the corresponding chain 111 in the vertical direction; both chains 111 are located on both sides of the rack 1 in the width direction, both connecting parts 211 are fixedly connected with the chains 111, and the rack 1 can be provided with a motor or other driving equipment to drive the sprockets 112 to rotate, which is transmitted by the chains 111 to realize the lifting of the forks 2, thereby controlling the forks 2 to be consistent with the height of the required outbound box, and then the rack 1 moves to adjust the relative position of the forks 2 and the box, so that the box is located between the two clamping arms 21.

[0040] Referring to Figure 2 , further, in order to quickly approach the required box when the box needs to be shipped out, a storage position is arranged near the outlet of the warehouse, and the embodiment further comprises a transfer device for moving the box stack to the storage position, and the transfer device is preferably a common AGV forklift, which moves the box stacks corresponding to different types of workpieces to the storage position, and the user can freely adjust the number of transfer devices according to actual needs.

[0041] Referring to Figure 2 , when the box needs to be shipped out, the rack 1 can quickly move to the box stack at the storage position, and select the corresponding box for outbound, saving moving time and improving outbound efficiency. Similarly, the transfer device can replenish the box stack in the storage position at a time when the box is not shipped out or does not affect the outbound of the rack 1, thereby ensuring the outbound efficiency when the box is shipped out.

[0042] Referring to Figure 2 and Figure 3 , the support part 212 is located on one side of the two connecting parts 211 close to each other, and the two support parts 212 close to each other are provided with clamping assemblies 22, at this time the clamping assemblies 22 are located on the side close to the box of the corresponding clamping arm 21, which is convenient for clamping the box. The clamping assembly 22 comprises a clamping block 221, a feeding structure for changing the distance between the clamping block 221 and the side wall of the box, and a lifting structure for driving the clamping block 221 to rise and fall on the clamping arm 21.

[0043] Referring to Figure 3 and Figure 4 , the feeding structure comprises a guide groove 222 opened on the support part 212 and a linear drive member 224 for driving the clamping block 221 to slide along the length direction of the guide groove 222, the guide groove 222 is in the shape of a long strip extending along the length direction of the clamping arm 21, and the height of the guide groove 222 gradually increases along the direction close to the connecting part 211. The clamping block 221 is located in the guide groove 222, and the linear drive member 224 adopts a cylinder parallel to the extension direction of the guide groove 222, the cylinder body is fixed in the support part 212, and the piston rod of the cylinder is connected with the clamping block 221, thereby driving the clamping block 221 to slide along the extension direction of the guide groove 222 by the extension and contraction of the cylinder.

[0044] Referring to Figure 2 and Figure 4 , the depth of the guide groove 222 gradually becomes shallow along the direction close to the rack 1, and the clamping block 221 is slidingly connected with the piston rod of the air cylinder along the width direction of the rack 1. The air cylinder drives the clamping block 221 to slide along the guide groove 222 towards the direction close to the rack 1, and at the same time, the clamping block 221 gradually moves towards the direction close to the box due to the depth change of the position of the guide groove 222, and then is embedded into the groove on the side wall of the box.

[0045] Referring to Figure 3 and Figure 4 , the lifting structure is the height change of the guide groove 222. Since the height of the guide groove 222 gradually becomes high along the direction close to the connecting part 211, the height of the clamping block 221 gradually increases while the clamping block 221 moves into the groove. The clamping block 221 is provided with a roller 223 at one end outside the guide groove 222. After the clamping block 221 enters the groove, the roller 223 contacts the top wall of the groove. With the increase of the height of the clamping block 221, the roller 223 rolls, and at the same time, drives the height of the box to increase, so that the upper and lower boxes are separated from the clamped state.

[0046] Referring to Figure 2 , since the rolling friction between the roller 223 and the box is small, the stability of the whole box stack is not easily affected in the above process, and the phenomenon such as collapse of the box stack is not easily occurred. Further, two groups of clamping assemblies 22 can be arranged along the length direction of each clamping arm 21, and the front and rear rollers 223 support the box, so as to improve the stability of the support of the box by the fork 2.

[0047] Referring to Figure 3 and Figure 5 , further, the support part 212 is slidingly connected with the connecting part 211 along the length direction of the clamping arm 21. The connecting part 211 is provided with a translation driving part 23 for driving the support part 212 to slide. The translation driving part 23 of the embodiment is preferably a gear 231 and a rack 232 structure. The gear 231 is rotatably connected to the connecting part 211, and the rack 232 is fixedly connected to the support part 212. The gear 231 and the rack 232 are meshed with each other. The connecting part 211 is provided with a driving device such as a motor to drive the gear 231 to rotate. The gear 231 can drive the support part 212 to move along the length direction of the clamping arm 21 through the rack 232, and then drive the box to move.

[0048] Referring to Figure 2 and Figure 6, the lower end of the rack 1 is provided with a shielding box 3, and the support part 212 drives the box to move above the shielding box 3; the shielding box is provided with a temporary storage rack 5 and a lifting driving part 33 for driving the temporary storage rack 5 to lift, and the lifting driving part 33 of the embodiment is selected as a hydraulic lifting platform, and the upper end of the shielding box 3 is slidingly connected with an opening and closing door 31, and the opening and closing door 31 can be driven by electricity. In the initial state, the lifting driving part 33 controls the temporary storage rack 5 to extend above the shielding box 3, and at the same time, the lifting mechanism 11 can adjust the height of the fork 2, so that the box is placed on the temporary storage rack 5, and then the clamping assembly 22 is reset to cancel the support of the box, and the lifting driving part 33 drives the temporary storage rack 5 and the box thereon to descend into the shielding box 3.

[0049] Referring to Figure 6 , the shielding box 3 is provided with an RFID scanning part 32 for identifying the box, the RFID scanning part 32 identifies whether the box is correct, and at the same time, the opening and closing door 31 closes the interference from the outside, if it is necessary to simultaneously carry out the delivery of multiple boxes, the shielding box 3 can also realize the temporary storage of the box, and it is not necessary to move the rack 1 back and forth to realize the delivery of multiple boxes, thereby improving the delivery efficiency.

[0050] Referring to Figure 2 , at the same time of the RFID scanning, the rack 1 can move towards the warehouse outlet at the same time, thereby saving time, and after the scanning is completed, the temporary storage rack 5 re-lifts the box to the outside of the shielding box 3, the clamping assembly 22 supports the box again, and at the same time, the support is reset, so that the box is moved to the conveying line outside the warehouse to complete the delivery.

[0051] Referring to Figure 2 , the rack 1 is provided with a mechanical arm 4 at the end far away from the fork 2, and the shielding box 3 is located between the fork 2 and the mechanical arm 4, if it is necessary to deliver single or partial workpieces in the box, the end of the rack 1 provided with the mechanical arm 4 is close to the warehouse outlet, after the temporary storage rack 5 lifts the box, the end effector of the mechanical arm 4 can extend into the box to clamp the workpieces, preferably, a visual positioning part is installed at the end effector of the mechanical arm 4, and the mechanical arm 4 quickly and accurately clamps the single workpiece and places it on the conveying line for delivery, and then the rack 1 resets the box to the box stack, thereby efficiently completing the delivery of single or partial workpieces.

[0052] The implementation principle of the efficient sorting AGV warehouse-out mechanism is that the rack 1 can be quickly moved to the box stack at the storage position, the moving time is saved, and the transfer device can be used to supplement the box stack in the storage position at the time when the warehouse-out is not performed or other times that do not affect the warehouse-out of the rack 1, so that the warehouse-out efficiency is ensured. When single-box warehouse-out is performed, the clamping assembly 22 controls the box to rise and be separated from the clamping, then the support part 212 drives the box to be moved to above the shielding box 3, the temporary storage rack 5 brings the box into the shielding box 3 to perform RFID scanning, if multiple boxes need to be delivered at the same time, the shielding box 3 can also realize temporary storage of the box, and it is not necessary to make the rack 1 move back and forth to realize delivery of multiple boxes, so that the delivery efficiency is improved; and at the same time of the RFID scanning, the rack 1 can be simultaneously moved to the warehouse outlet, and the single-box has higher warehouse-out efficiency. When single or partial workpieces in the box are warehouse-out, one end of the rack 1 installed with the mechanical arm 4 is close to the warehouse outlet, after the temporary storage rack 5 lifts the box after the scanning is completed, the end effector of the mechanical arm 4 can be inserted into the box to clamp the workpiece, the vision positioning is cooperated, the mechanical arm 4 quickly and accurately clamps the single workpiece, and places the single workpiece on the conveying line to perform warehouse-out, and the single workpiece also has higher warehouse-out efficiency.

[0053] The above are preferred embodiments of the present application, and do not limit the protection scope of the present application, therefore: equivalent changes made according to the structure, shape, principle of the present application should be covered in the protection scope of the present application.

Claims

1. A high-efficiency sorting AGV outbound mechanism, comprising a frame (1) and a drive mechanism for moving the frame (1), characterized in that: The frame (1) is slidably connected with forks (2) in the vertical direction. The frame (1) is provided with a lifting mechanism (11) for driving the forks (2) to rise and fall. The forks (2) include two sets of parallel clamping arms (21). The two sets of clamping arms (21) are arranged along the width direction of the frame (1). On the side of the two sets of clamping arms (21) that are close to each other, there are several clamping components (22). The clamping components (22) include clamping blocks (221) for embedding into the groove of the cargo box, a feeding structure for changing the distance between the clamping blocks (221) and the side wall of the cargo box, and a lifting structure for driving the clamping blocks (221) to rise and fall on the clamping arms (21). The lifting structure includes a guide groove (222), which is inclined along the length direction of the clamping arm (21). The height of the guide groove (222) gradually changes along its own length direction. The clamping block (221) is located in the guide groove (222) and is slidably connected to the clamping arm (21) along the length direction of the guide groove (222). The feeding structure includes a linear drive (224) for driving the clamping block (221) to slide along the length direction of the guide groove (222). The depth of the guide groove (222) gradually becomes shallower along the direction of the rise of the guide groove (222). The frame (1) is provided with a mechanical arm (4) at the end away from the fork (2), and a temporary storage rack (5) for temporarily storing the cargo box is provided between the fork (2) and the mechanical arm (4). The fork (2) is provided with a translation drive (23) to drive the cargo box to move above the temporary storage rack (5).

2. The efficient sorting AGV outbound mechanism according to claim 1, characterized in that: The end effector of the robotic arm (4) is equipped with a vision positioning device.

3. The efficient sorting AGV outbound mechanism according to claim 1, characterized in that: The lower end of the frame (1) is fixedly provided with a shielding box (3), and the shielding box (3) is provided with an RFID scanner (32) for identifying the cargo box. The temporary storage rack (5) is located inside the shielding box (3) and is slidably connected to the shielding box (3) in the vertical direction. The frame (1) is provided with a lifting drive (33) for controlling the lifting of the temporary storage rack (5). The upper end of the shielding box (3) is movably connected with an opening and closing door (31) for the temporary storage rack (5) to enter and exit.

4. The efficient sorting AGV outbound mechanism according to claim 1, characterized in that: The clamping arm (21) includes a connecting part (211) that is slidably connected to the frame (1) and a supporting part (212) for supporting the clamping assembly (22). The supporting part (212) and the connecting part (211) are slidably connected along the length direction of the clamping arm (21). The translation drive (23) is provided on the connecting part (211).

5. The efficient sorting AGV outbound mechanism according to claim 1, characterized in that: Each clamping block (221) is rotatably connected to a roller (223) at the end away from the guide groove (222). When the clamping block (221) is located at the highest end of the guide groove (222), the rotating surface of the roller (223) abuts against the top wall of the cargo box groove.

6. The efficient sorting AGV outbound mechanism according to claim 1, characterized in that: It also includes several storage locations for temporarily storing pallets of cargo and several transfer devices for moving pallets of cargo to the storage locations.

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