A method for retrieving and storing goods

Abstract

The present invention belongs to the technical field of warehousing, and provides a method for taking and placing warehousing goods, including a method for taking out goods and a method for storing goods. The method for taking out goods includes the following steps: the telescopic fork of the AGV holds the goods to be taken out; the goods to be taken out are pulled out a certain distance outside the shelf, so that the outer end of the goods to be taken out is suspended; the first supporting device on the telescopic fork of the AGV supports the outer end of the goods to be taken out; the goods to be taken out are pulled out a certain distance outside the shelf again, so that a part of the inner end of the goods to be taken out is suspended and the other part is supported on the shelf board or the goods below; the second supporting device on the telescopic fork of the AGV supports the suspended part of the inner end of the goods to be taken out; the goods to be taken out are pulled out outside the shelf again, so that the goods to be taken out leave the shelf. The present invention can reduce the cost of the shelf, and on the other hand, enables higher goods to be placed on the shelf.

Description

Technical Field

[0001] The present invention relates to the technical field of warehousing, and particularly relates to a method for retrieving and storing goods in a warehouse. Background Art

[0002] Modern warehousing tends to be automated and intelligent, and the retrieval and storage of goods on the shelves are realized through AGVs. On each layer board of the shelf, currently only one layer of goods can be placed, that is, the stacking placement of goods cannot be realized, thus bringing the following problems:

[0003] In the case of the same height, the number of layer boards of the current shelf is more. On the one hand, it leads to a higher cost of the shelf; on the other hand, due to the smaller height of each layer, the shelf cannot place higher goods.

[0004] Based on this, it is necessary to improve the above-mentioned technical problems existing in the prior art. Summary of the Invention

[0005] Aiming at the defects in the prior art, the purpose of the present invention is to provide a method for retrieving and storing goods in a warehouse to solve or at least alleviate one or more of the above-mentioned technical problems or other problems existing in the prior art.

[0006] To achieve the above purpose, the present invention provides a method for retrieving and storing goods in a warehouse, including a goods retrieval method and a goods storage method, wherein:

[0007] The goods retrieval method includes the following steps:

[0008] S101, the telescopic fork of the AGV clamps the goods to be retrieved;

[0009] S104, pull the goods to be retrieved outwards by a certain distance from the shelf so that the outer end of the goods to be retrieved is suspended;

[0010] S105, the first support device on the telescopic fork of the AGV supports the outer end of the goods to be retrieved;

[0011] S106, pull the goods to be retrieved outwards by a certain distance again so that a part of the inner end of the goods to be retrieved is suspended and the other part is supported on the layer board of the shelf or the goods below;

[0012] S107, the second support device on the telescopic fork of the AGV supports the suspended part of the inner end of the goods to be retrieved;

[0013] S108, pull the goods to be retrieved outwards again so that the goods to be retrieved leave the shelf;

[0014] The goods storage method includes the following steps:

[0015] S201. The telescopic fork of the AGV grips the goods to be stored, and the second support device and the first support device on the telescopic fork of the AGV support the inner and outer ends of the goods to be stored.

[0016] S202. The telescopic fork of the AGV moves the gripped goods to be stored directly above the shelf board or the goods on the shelf, and a certain distance is maintained between the goods to be stored and the shelf board or the goods on the shelf below.

[0017] S203. The lifting device of the AGV lowers the goods to be stored so that the goods to be stored are supported on the shelf board or the goods below.

[0018] S204. The first support device and the second support device on the telescopic fork of the AGV withdraw the support for the goods to be stored, so that the goods to be stored are directly supported on the shelf board or the goods below.

[0019] Further, before step S104, the goods taking method further includes the following steps:

[0020] S102. The first blocking device on the telescopic fork of the AGV abuts against the outer sidewall of the goods below the goods to be taken out.

[0021] Further, before step S104, the goods taking method further includes the following steps:

[0022] S103. The second blocking device on the telescopic fork of the AGV abuts against the inner sidewall of the goods to be taken out.

[0023] Further, the specific steps of step S201 are as follows:

[0024] S2011. The telescopic fork of the AGV grips the goods to be stored.

[0025] S2012. The first blocking device on the AGV blocks the sidewall of the outer end of the goods to be stored, and the second blocking device on the AGV blocks the sidewall of the inner end of the goods to be stored.

[0026] S2013. During the process of the telescopic fork of the AGV extending outwards, the second support device and the first support device on the telescopic fork successively support the inner and outer ends of the goods to be stored.

[0027] The beneficial effects of the present invention: The present invention provides a method for storing and retrieving goods in a warehouse, which realizes the storage and retrieval of goods through an AGV. The AGV can stack and place goods on each shelf board of the shelf, so that on the premise of the same height, on the one hand, the number of shelf boards of the shelf is reduced, thereby reducing the cost of the shelf; on the other hand, the height of each layer is larger, so that higher goods can be placed on the shelf. Brief Description of the Drawings

[0028] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to actual scale.

[0029] Figure 1 The front view of an AGV provided by an embodiment of the present invention;

[0030] Figure 2 For Figure 1 The perspective view of the first base, the second base, the support rollers, the telescopic fork and the transverse movement device in

[0031] Figure 3 For Figure 2 The perspective view in another perspective;

[0032] Figure 4 For Figure 3 The perspective view when the AGV in carries goods;

[0033] Figure 5 For Figure 3 The perspective view of a partial structure of ;

[0034] Figure 6 For Figure 4 The perspective view of a partial structure in from one perspective;

[0035] Figure 7 For Figure 4 The perspective view of a partial structure in from another perspective;

[0036] Figure 8 For Figure 7 The perspective view of a partial structure of ;

[0037] Figure 9 For Figure 6 The rear view of ;

[0038] Figure 10 For Figure 6 The working schematic diagram during the process of taking out goods;

[0039] Figure 11 The flowchart of the method for taking out goods in the method for storing and retrieving goods provided by an embodiment of the present invention;

[0040] Figure 12 The flowchart of the method for taking out goods in the method for storing and retrieving goods provided by another embodiment of the present invention;

[0041] Figure 13 The flowchart of the method for storing goods in the method for retrieving and storing warehouse goods provided by an embodiment of the present invention;

[0042] Figure 14 For Figure 13 the working flowchart of step S201 in

[0043] Reference numerals:

[0044] 10, vehicle body; 11, lifting device; 12, first base; 13, second base; 14, support roller;

[0045] 21, outer fork plate; 22, first sliding plate; 23, middle fork plate; 24, second sliding plate; 25, inner fork plate; 251, support groove; 261, first pulley; 262, first transmission belt; 263, first connecting block; 264, second connecting block; 265, first motor;

[0046] 31, second motor; 32, first support arm; 33, second pulley; 34, second transmission belt; 35, sixth motor; 36, third connecting block;

[0047] 41, third motor; 42, second support arm;

[0048] 51, fourth motor; 52, first blocking arm; 521, connecting portion; 522, blocking portion; 53, third pulley; 54, third transmission belt; 55, seventh motor; 56, fourth connecting block;

[0049] 61, fifth motor; 62, second blocking arm;

[0050] 70, transverse movement device. Detailed implementation manners

[0051] Hereinafter, embodiments of the technical solution of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and thus are only examples and cannot be used to limit the protection scope of the present invention.

[0052] It should be noted that unless otherwise specified, the technical terms or scientific terms used in this application should have the ordinary meanings understood by those skilled in the art to which the present invention belongs.

[0053] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0054] In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. In the description of the present invention, the meaning of "a plurality" is two or more unless otherwise specifically defined.

[0055] In the present application, unless otherwise clearly specified and limited, the terms "mounted", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] In the present application, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0057] As Figure 1-10 shown, this embodiment provides an AGV, including a vehicle body 10, a lifting device 11, a first base 12, a second base 13, a support roller 14, a telescopic fork, and a transverse movement device 70.

[0058] A lifting device 11 is provided on the vehicle body 10. The first base 12 is driven by the lifting device 11 to move up or down. The lifting device 11 can be an oil cylinder or a chain drive mechanism. Two lifting devices 11 are symmetrically arranged and work synchronously. The first base 12 is located between the two lifting devices 11, so the stability and rationality are better.

[0059] A second base 13 is fixedly arranged on the first base 12. Multiple rows of support rollers 14 are arranged on the second base 13. The support rollers 14 can rotate around their own axes on the second base 13 and are used to provide rolling support for the goods placed on them. The telescopic fork is arranged on the second base 13 and includes two relatively arranged fork assemblies. The two fork assemblies can move relatively closer or farther away under the drive of the transverse movement device 70, so as to clamp the goods.

[0060] The fork assembly includes an outer fork plate 21, a middle fork plate 23, an inner fork plate 25 and a first driving device. The outer fork plate 21 is slidably arranged on the second base 13. The middle fork plate 23 is arranged inside the outer fork plate 21. The middle fork plate 23 is indirectly slidably connected to the outer fork plate 21 through a first sliding plate 22. Specifically, the first sliding plate 22 is slidably arranged inside the outer fork plate 21, and the middle fork plate 23 is slidably arranged inside the first sliding plate 22. The inner fork plate 25 is indirectly slidably connected to the middle fork plate 23 through a second sliding plate 24. Specifically, the second sliding plate 24 is slidably arranged inside the middle fork plate 23, and the inner fork plate 25 is slidably arranged inside the second sliding plate 24. The first driving device includes a first pulley 261, a first transmission belt 262, a first connecting block 263, a second connecting block 264 and a first motor 265. Two first pulleys 261 are relatively arranged at the front and rear ends of the middle fork plate 23. The first pulleys 261 can rotate around their own axes on the middle fork plate 23. The first transmission belt 262 is sleeved outside the two first pulleys 261. The first connecting block 263 and the second connecting block 264 are respectively located on two straight and parallel belt bodies of the first transmission belt 262. The first connecting block 263 and the second connecting block 264 are both fixedly connected to the first transmission belt 262. In addition, the first connecting block 263 is also fixedly connected to the outer fork plate 21, and the second connecting block 264 is also fixedly connected to the inner fork plate 25. The first motor 265 is fixedly arranged inside and at the rear end of the middle fork plate 23, and the first motor 265 is used to rotate one of the first pulleys 261.

[0061] The transverse movement device 70 is used to make the two fork assemblies move relatively closer or farther away. There are many structures that can achieve this function, such as a gear-rack structure, a lead screw-nut structure, a cylinder / oil cylinder / electric push rod, etc. Since these structures are all prior arts, they will not be elaborated here.

[0062] The forklift assembly further includes a first support device and a second support device both for supporting goods. The first support device and the second support device are respectively arranged at the rear end and the front end of the inner fork plate 25, and both are located at the lower end of the inner fork plate 25. The first support device includes a second motor 31 arranged on the outer wall of the inner fork plate 25 and a first support arm 32 sleeved on the output shaft of the second motor 31. The second support device includes a third motor 41 fixedly arranged on the outer wall of the inner fork plate 25 and a second support arm 42 sleeved on the output shaft of the third motor 41. The first support arm 32 can swing to the inner side of the inner fork plate 25 under the drive of the second motor 31 so as to support the goods. Similarly, the second support arm 42 can swing to the inner side of the inner fork plate 25 under the drive of the third motor 41 so as to support the goods. When the first support arm 32 and / or the second support arm 42 do not need to support the goods, the first support arm 32 and / or the second support arm 42 can be swung to the outer side of the inner fork plate 25.

[0063] The forklift assembly further includes a first blocking device and a second blocking device. The first blocking device and the second blocking device are respectively arranged at the rear end and the front end of the inner fork plate 25, and both are located at the lower end of the inner fork plate 25. The first blocking device includes a fourth motor 51 arranged on the inner fork plate 25 and a first blocking arm 52 sleeved on the output shaft of the fourth motor 51. The second blocking device includes a fifth motor 61 fixedly arranged on the outer wall of the inner fork plate 25 and a second blocking arm 62 sleeved on the output shaft of the fifth motor 61. The first blocking arm 52 can swing to the inner side of the inner fork plate 25 under the drive of the fourth motor 51, and the second blocking arm 62 can swing to the inner side of the inner fork plate 25 under the drive of the fifth motor 61. The first blocking device and the second blocking device are used to form a block on the goods from both ends of the goods, so that the goods are kept in the space jointly formed by the first blocking device, the second device and the two inner fork plates 25 in the horizontal plane.

[0064] In this embodiment, the AGV can stack and place goods on the laminate of each layer of the shelf. Thus, on the premise of the same height, on the one hand, the number of laminates of the shelf is reduced, thereby reducing the cost of the shelf; on the other hand, the height of each layer is larger, enabling higher goods to be placed on the shelf.

[0065] In one embodiment, a method for retrieving and storing warehouse goods is provided. As Figure 11 and Figure 13 shown, this method is realized by using the above-mentioned AGV. This method includes a goods retrieval method and a goods storage method, wherein:

[0066] As Figure 11 shown, the goods retrieval method includes the following steps:

[0067] S101, the telescopic forklift of the AGV clamps the goods to be retrieved.

[0068] The traveling mechanism on the vehicle body 10 of the AGV automatically travels according to the instruction, making the vehicle body 10 of the AGV approach and move to the target work station. The telescopic forklift is aligned with the goods to be taken out on the shelf through the lifting device 11, and the distance between the two forklift components is adjusted by the transverse movement device 70 to ensure that the distance between the two forklift components is greater than the width of the goods to be taken out. Then, the two forklift components in the telescopic forklift extend synchronously. After reaching the preset position, the telescopic forklift stops extending. The preset position can be different according to the size of the goods, or it can stop at different positions for the same specification of goods. At the preset position, the goods to be taken out are located between the two forklift components, and then the two forklift components are made to approach each other and clamp the goods to be taken out through the transverse movement device 70, that is, the goods to be taken out are clamped by the two inner fork plates 25.

[0069] S104, pull the goods to be taken out a certain distance out of the shelf so that the outer end of the goods to be taken out is suspended.

[0070] After the goods to be taken out are clamped, the telescopic forklift retracts backward by a certain distance so that the outer end of the goods to be taken out is suspended. There may be another good or a shelf board under the goods to be taken out.

[0071] When there is another good under the goods to be taken out, when pulling the goods to be taken out outwards, it is necessary to avoid the following movement of the goods below, so as to change the storage position of the goods below on the shelf. When the static friction between the goods to be taken out and an adjacent good below is greater than the static friction between the above-mentioned good and the object below it (which can be the shelf board or another good), when pulling the goods to be taken out outwards, the goods below will follow the movement, so this situation needs to be avoided.

[0072] In addition, the outer end of the goods to be taken out refers to the end of the goods to be taken out facing the AGV, and the inner end refers to the end of the goods to be taken out facing away from the AGV. In addition, when the outer end of the goods to be taken out is suspended, the overall center of gravity of the goods to be taken out is still on another good below or the shelf board to ensure that the goods to be taken out remain stable and do not tilt outwards and fall.

[0073] S105, the first support device on the telescopic forklift of the AGV supports the outer end of the goods to be taken out.

[0074] After the outer end of the goods to be taken out is suspended, at this time, the first support arm 32 on the first support device on the telescopic fork swings from the outside of the inner fork plate 25 to the inside of the inner fork plate 25. Before the first support arm 32 swings from the outside of the inner fork plate 25 to the inside of the inner fork plate 25, the top surface of the first support arm 32 and the bottom surface of the goods to be taken out can be in a coplanar relationship, or a height relationship that is slightly higher or slightly lower. This height relationship can be achieved by controlling the height of the telescopic fork by the lifting device 11. After the first support arm 32 is rotated to the inside of the inner fork plate 25, the first support arm 32 can support the outer end of the goods to be taken out, that is, support the outer end of the goods to be taken out.

[0075] S106. Pull the goods to be taken out outwards from the shelf again for a certain distance, so that a part of the inner end of the goods to be taken out is suspended and the other part is supported on the shelf board or the goods below.

[0076] When the outer end of the goods to be taken out is supported by the first support device, the telescopic fork retracts backwards again for a certain distance, so that the clamped goods to be taken out are pulled outwards from the shelf again for a certain distance, and a part of the inner end of the goods to be taken out is suspended and the other part is supported on the shelf board or the goods below. The suspended part of the inner end of the goods to be taken out should ensure that the second support arm 42 on the second support device can swing below the inner end of the goods to be taken out, and the second support arm 42 will not touch the shelf or the goods during the swinging process.

[0077] According to the different positions of the goods to be taken out placed in the inner and outer directions of the shelf board, for example, there are two rows of goods placed in the inner and outer directions of the board, and each row of goods is stacked with two layers or more. When taking out the goods located on the outer side of the board, during the process of pulling the goods to be taken out outwards from the shelf again for a certain distance, the outer end of the goods to be taken out will contact the support roller 14 and be supported by the support roller 14. Therefore, the first support arm 32 needs to withdraw the support for the outer end of the goods to be taken out after the outer end of the goods to be taken out is supported on the support roller 14. When taking out the goods located on the inner side of the board, during the process of pulling the goods to be taken out outwards from the shelf again for a certain distance, the outer end of the goods to be taken out keeps a large distance from the support roller 14. Therefore, the outer end of the goods to be taken out is always supported by the first support arm 32.

[0078] S107. The second support device on the telescopic fork of the AGV supports a part of the suspended inner end of the goods to be taken out.

[0079] The second support arm 42 on the second support device swings from the outside of the inner fork plate 25 to the inside of the inner fork plate 25 and is located below the bottom surface of the inner end of the goods to be taken out. Before the second support arm 42 swings from the outside of the inner fork plate 25 to the inside of the inner fork plate 25, the top surface of the second support arm 42 and the bottom surface of the goods to be taken out may be in a coplanar relationship, or a height relationship of slightly higher or slightly lower. This height relationship can be achieved by controlling the height of the telescopic fork by the lifting device 11. After the second support arm 42 is rotated to the inside of the inner fork plate 25, the second support arm 42 can support the inner end of the goods to be taken out, that is, support the inner end of the goods to be taken out.

[0080] S108, pull the goods to be taken out out of the shelf again to make the goods to be taken out leave the shelf;

[0081] The telescopic fork retracts a certain distance again, so as to pull the goods to be taken out outwards again and make the goods to be taken out leave the goods below or the laminate on the shelf, that is, make the goods to be taken out leave the shelf. When the goods to be taken out leave the shelf, the telescopic fork continues to retract and sends the goods completely onto the support roller 14. During this process, the first support arm 32 and the second support arm 42 swing to the outside of the inner fork plate 25 in sequence. Thus, the goods on the storage shelf are taken out through the above AGV.

[0082] As Figure 13 shown, the goods storage method includes the following steps:

[0083] S201, the telescopic fork of the AGV clamps the goods to be stored, and the second support device and the first support device on the telescopic fork of the AGV support the inner and outer ends of the goods to be stored;

[0084] The vehicle body 10 of the AGV approaches and moves to the target station, and the goods to be stored are aligned with the station to be stored through the lifting device 11. The goods to be stored are supported on the support roller 14, and the two telescopic forks are moved closer to each other through the transverse movement device 70, so as to clamp the goods to be stored. The telescopic fork extends outwards. During this process, the goods to be stored gradually leave the support roller 14. At the same time, the second support arm 42 in the second support device and the first support arm 32 in the first support device swing to the inside of the inner fork plate 25 successively and support the goods to be stored, that is, the first support arm 32 and the second support arm 42 support the inner and outer ends of the goods to be stored. Among them, the first support arm 32 supports the outer end of the goods to be stored, and the second support arm 42 supports the inner end of the goods to be stored.

[0085] It should be noted that the outer end and the inner end of the goods to be stored are the same as those of the goods to be retrieved, that is, the outer end of the goods to be stored and the outer end of the goods to be retrieved are the same end of the goods, and the inner end of the goods to be stored and the inner end of the goods to be retrieved are the same end of the goods.

[0086] S202, the telescopic fork of the AGV moves the goods to be stored clamped by it to directly above the shelf board or the goods on the shelf, and a certain distance is maintained between the goods to be stored and the shelf board or the goods on the shelf below.

[0087] The telescopic fork moves the goods to be stored clamped and supported by it upward to the shelf, and moves it to directly above the shelf board or the goods on the shelf, and a certain distance is maintained between the goods to be stored and the shelf board or the goods on the shelf below. This distance is greater than the length value (i.e., height or thickness) of the first support arm 32 and the second support arm 42 in the vertical direction.

[0088] It should be noted that the bottom surfaces of the first support arm 32 and the second support arm 42 are coplanar, and the top surfaces of the first support arm 32 and the second support arm 42 are also coplanar.

[0089] S203, the lifting device 11 of the AGV lowers the goods to be stored, so that the goods to be stored are supported on the shelf or the goods below.

[0090] The lifting device 11 lowers the first base 12 and the second base 13, the telescopic fork and the goods to be stored clamped and supported by the telescopic fork on the first base 12 by a certain distance, so that the bottom surfaces of the first support arm 32 and the second support arm 42 contact the top surface of the shelf board or the goods below, so that the goods to be stored are supported on the shelf board or the goods below.

[0091] S204, the first support device and the second support device on the telescopic fork of the AGV remove the support for the goods to be stored, so that the goods to be stored are directly supported on the shelf or the goods below.

[0092] The first support device and the second support device synchronously remove the support for the goods to be stored, so that the goods to be stored directly fall downward. Since the thicknesses of the first support arm 32 and the second support arm 42 are relatively small, for example, the thickness value is 2-5 mm, therefore, the goods will not be easily damaged after falling downward. In this case, if damage may still occur, the corresponding type of goods is not applicable to the picking and placing method of the present invention. The goods fall downward and land on the shelf board or the goods below, so that the goods to be stored are directly supported on the shelf board or the goods below.

[0093] In this embodiment, a method for retrieving and placing storage goods is provided, which is applicable to placing two or more layers of goods on the shelves, and is particularly applicable to placing two or more rows of goods in the inner and outer directions of the shelves.

[0094] In the method for retrieving and placing storage goods provided in this embodiment, when the above-mentioned AGV does not have the first blocking device and the second blocking device, the telescopic fork only needs to provide a relatively small clamping force to ensure that the clamped goods will not move relative to the inner fork plate 25 in the front and back directions of the inner fork plate 25. When the above-mentioned AGV has the first blocking device and the second blocking device, the clamping force provided by the telescopic fork to the goods can be even smaller, and even only needs to contact the goods, that is, it only needs to play a limiting role, and the first blocking device and the second blocking device ensure that the clamped goods will not move relative to the inner fork plate 25 in the front and back directions of the inner fork plate 25.

[0095] In one embodiment, an AGV is provided, as Figure 6-8 shown. In this AGV, the first support device further includes a second drive device for driving the second motor 31 to move back and forth in the front and back directions of the inner fork plate 25. The second drive device includes a second pulley 33, a second transmission belt 34, a sixth motor 35 and a third connecting block 36. Among them, a second pulley 33 is provided at each of the front and rear ends of the inner fork plate 25. The second pulley 33 can rotate around its own axis. The second transmission belt 34 is sleeved outside the two second pulleys 33. The sixth motor 35 is installed on the outer wall of the inner fork plate 25 and drives one of the second pulleys 33 to rotate. The third connecting block 36 is fixed on the second transmission belt 34 and is slidably connected to the inner fork plate 25. The second motor 31 is fixedly arranged on the third connecting block 36.

[0096] In this embodiment, the first support arm 32 can move back and forth in a certain range in the front and back directions of the inner fork plate 25, so that it can be used to cooperate with the second support arm 42 to support goods of different sizes.

[0097] In one embodiment, an AGV is provided, as Figure 6-8As shown, in this AGV, the first blocking device further includes a third pulley 53, a third transmission belt 54, a seventh motor 55, and a fourth connection block 56. Among them, a third pulley 53 is provided at each of the front and rear ends of the inner fork plate 25. The third pulley 53 can rotate around its own axis. The third transmission belt 54 is sleeved outside the two third pulleys 53. The seventh motor 55 is installed on the outer wall of the inner fork plate 25 and drives one of the third pulleys 53 to rotate. The fourth connection block 56 is fixed on the third transmission belt 54, and the fourth motor 51 is fixedly arranged on the fourth connection block 56. The fourth motor 51 drives the first blocking wall to swing in the vertical plane. The first blocking wall is arranged below the inner fork plate 25 and is L-shaped, including a connecting portion 521 and a blocking portion 522. Among them, one end of the connecting portion 521 is connected to the output shaft of the fourth motor 51, and the other end of the connecting portion 521 is connected to the blocking portion 522. The fourth motor 51 can change the position of the first blocking wall, so that the blocking portion 522 can be used to block the goods to be taken out or stored and another goods located below and adjacent to the goods. Specifically, when the connecting portion 521 is in a horizontal or substantially horizontal position, the blocking portion 522 extends upward, so that at this time the blocking portion 522 can block the goods to be taken out or stored, ensuring that the position of the goods does not change unexpectedly during the above process. When the connecting portion 521 is in a position inclined downward at a certain angle, such as inclined 10-30°, the blocking portion 522 extends obliquely upward. The blocking portion 522 is located below the bottom surface of the goods to be taken out, so that the blocking portion 522 cannot block the goods to be taken out. On the contrary, the blocking portion 522 will block another goods located below and adjacent to the goods to be taken out. Therefore, it can avoid the situation that the goods below will move along when pulling out the goods to be taken out. When the blocking portion 522 blocks the goods below the goods to be taken out, the first support arm 32 and the second support arm 42 can pass between the blocking portion 522 and the inner wall of the inner fork plate 25.

[0098] In this embodiment, since the first support device can move back and forth in the front-rear direction of the inner fork plate 25 within a certain range to adapt to goods of different sizes, therefore, the first blocking wall in the first blocking device is also arranged to be able to move back and forth in the front-rear direction of the inner fork plate 25. Thus, during the process of pulling out the goods to be taken out, by moving the first blocking wall in the direction opposite to the moving direction of the goods to be taken out, it is ensured that another goods located below and adjacent to the goods to be taken out is continuously blocked by the first blocking wall, thereby avoiding the situation that the goods below will move along when pulling out the goods to be taken out.

[0099] In one embodiment, as Figure 6-10As shown, the second motor 31 passes downward through two linearly arranged and parallel belt bodies on the third transmission belt 54, and the first support arm 32 is located below the third transmission belt 54. Such an arrangement can reduce the distance between the first support arm 32 and the first blocking wall in the vertical direction, thereby reducing the size of the blocking portion 522 on the first blocking wall and the occupancy of the space below during the free swing of the first blocking wall, making the structure of the entire device more compact.

[0100] In one embodiment, as Figure 8 shown, a through support groove 251 is provided at the lower end of the inner fork plate 25. The extending direction of the support groove 251 is parallel to the moving direction of the second motor 31, and the bottom surface of the support groove 251 is coplanar with the bottom surface of the first support arm 32. The first support arm 32 can pass through the support groove 251. By providing the support groove 251, the first support arm 32 passing through the support groove 251 can be supported at the support groove 251, avoiding the situation where the output shaft of the second motor 31 deviates from the axis due to supporting the goods.

[0101] In one embodiment, as Figure 12 shown, the method for taking out goods is further improved. Among them, before step S104, the method for taking out goods further includes the following steps:

[0102] S102, the first blocking device on the telescopic fork of the AGV abuts against the outer side wall of the goods below the goods to be taken out.

[0103] Specifically, the goods below the goods to be taken out refer to a goods located below the goods to be taken out and adjacent to the goods to be taken out. By the first blocking device on the telescopic fork of the AGV abutting against the outer side wall of the goods below the goods to be taken out, it can avoid the situation where the goods below will move along when pulling out the goods to be taken out outward.

[0104] In one embodiment, as Figure 12 shown, the method for taking out goods is further improved. Among them, before step S104, the method for taking out goods further includes the following steps:

[0105] S103, the second blocking device on the telescopic fork of the AGV abuts against the inner side wall of the goods to be taken out.

[0106] By the second blocking device on the telescopic fork of the AGV abutting against the inner side wall of the goods to be taken out, the second blocking device plays a limiting role on the goods to be taken out, thereby reducing the clamping force provided by the telescopic fork to the goods, and even only contacting the goods is sufficient, that is, playing a limiting role is sufficient.

[0107] In one embodiment, as Figure 14As shown, the method for storing goods is further improved. Among them, the specific steps of step S201 are as follows:

[0108] S2011, the telescopic fork of the AGV clamps the goods to be stored;

[0109] S2012, the first blocking device on the AGV blocks the side wall of the outer end of the goods to be stored, and the second blocking device on the AGV blocks the side wall of the inner end of the goods to be stored;

[0110] S2013, during the process of the telescopic fork of the AGV extending outwards, the second support device and the first support device on the telescopic fork successively support the inner and outer ends of the goods to be stored.

[0111] In this embodiment, by using the first blocking device to block the side wall of the outer end of the goods to be stored and the second blocking device to block the side wall of the inner end of the goods to be stored, the goods to be stored can be limited in position, avoiding unexpected movement of the goods relative to the inner fork plate 25 during the storage process.

[0112] In the description of the present invention, a large number of specific details are set forth. However, it is understood that the embodiments of the present invention may be practiced without these specific details. In some instances, well-known methods, structures, and technologies have not been shown in detail so as not to obscure the understanding of this specification.

[0113] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered by the scope of the claims and the description of the present invention.

Claims

1. A method for storing and retrieving goods, characterized in that, The above storage goods picking and placing method is realized by an AGV, including a goods picking method and a goods storing method, where: The AGV includes a telescopic forklift. The telescopic forklift includes two relatively arranged forklift components. The forklift components include an outer fork plate, a middle fork plate, an inner fork plate, a first driving device, a first blocking device and a second blocking device. The first blocking device and the second blocking device are respectively arranged at the rear end and the front end of the inner fork plate, and both are located at the lower end of the inner fork plate. The first blocking device includes a fourth motor arranged on the inner fork plate and a first blocking arm sleeved on the output shaft of the fourth motor. The first blocking device further includes a third pulley, a third transmission belt, a seventh motor and a fourth connecting block. One third pulley is arranged at each of the front and rear ends of the inner fork plate. The third transmission belt is sleeved outside the two third pulleys. The seventh motor is installed on the outer wall of the inner fork plate and drives one of the third pulleys to rotate. The fourth connecting block is fixed on the third transmission belt. The fourth motor is fixedly arranged on the fourth connecting block. The fourth motor drives the first blocking arm to swing in a vertical plane. The first blocking arm is arranged below the inner fork plate. The fourth motor can change the position of the first blocking arm. The goods picking method includes the following steps: S101, The telescopic forklift of the AGV clamps the goods to be picked. S102, The first blocking device on the telescopic forklift of the AGV abuts against the outer side wall of the goods below the goods to be picked. S103, The second blocking device on the telescopic forklift of the AGV abuts against the inner side wall of the goods to be picked. S104, Pull the goods to be picked outwards by a certain distance from the shelf, so that the outer end of the goods to be picked is suspended. S105, The first supporting device on the telescopic forklift of the AGV supports the outer end of the goods to be picked. S106, Pull the goods to be picked outwards by a further distance from the shelf, so that a part of the inner end of the goods to be picked is suspended and the other part is supported on the shelf board or the goods below. S107, The second supporting device on the telescopic forklift of the AGV supports the suspended part of the inner end of the goods to be picked. S108, Pull the goods to be picked outwards again to make the goods to be picked leave the shelf. The goods storing method includes the following steps: S201, The telescopic forklift of the AGV clamps the goods to be stored, and the second supporting device and the first supporting device on the telescopic forklift of the AGV support the inner and outer ends of the goods to be stored. S202, The telescopic forklift of the AGV moves the clamped goods to be stored directly above the shelf board or the goods on the shelf, and a certain distance is maintained between the goods to be stored and the shelf board or the goods on the shelf below. S203, The lifting device of the AGV lowers the goods to be stored, so that the goods to be stored are supported on the shelf board or the goods below. S204, The first supporting device and the second supporting device on the telescopic forklift of the AGV remove the support for the goods to be stored, so that the goods to be stored are directly supported on the shelf board or the goods below.

Images