Automatic transport vehicle for warehousing

Abstract

The automatic transport vehicle comprises a movable transport vehicle body, an anti-inclination angle sensor, a soft mechanical arm, a rotating air cylinder, a triangular rotating base and a controller, the two inclined faces of the triangular rotating base are connected with a mounting support and a pneumatic mechanical arm correspondingly, and the two sides of the mounting support are provided with a camera and a two-dimensional code recognizer correspondingly; a groove is formed in a table top of the movable transport vehicle body, two linear guide rails are arranged in the groove at intervals, a cover plate covers the groove, a sliding support is connected between the two linear guide rails in a sliding mode, a sliding base is arranged at the bottom of the sliding support, and a driving motor is arranged on the side edge of one linear guide rail. The driving motor can drive the sliding seats on the linear guide rails on the same side to be in sliding connection along the linear guide rails, a product containing table support is fixed above the sliding support, pressure detection sensors are arranged on the product containing table support at intervals, and more than one layer of product stacking frames are arranged on the product containing table support. The working efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field related to warehousing accessory equipment, and in particular relates to an automated transport vehicle for warehousing. Background Art

[0002] Warehousing is the storage and preservation of goods and articles in warehouses. Warehousing is a comprehensive place that reflects the status of factory material activities. It is a transit station connecting production, supply and sales, and plays an important auxiliary role in promoting production and improving efficiency. Warehousing is the temporary storage of products and articles due to order pre-placement or market forecast pre-placement during product production and circulation. At the same time, clear and accurate reports, document accounts, and accurate information calculated by the accounting department are also carried out around the warehousing entity activities. Therefore, warehousing is the integration of logistics, information flow, and document flow. Traditional warehousing refers to the use of warehouses to carry out the warehousing, storage, and outbound activities of various materials and related facilities and equipment. Modern warehousing refers to the addition of in-warehouse processing, sorting, and in-warehouse packaging on the basis of traditional warehousing. Warehousing is one of the important links in production and manufacturing and commodity circulation, and it is also an important link in logistics activities.

[0003] In the warehousing and storage process, transportation equipment, namely, warehousing and transport vehicles, will be used. For example, the application number published by the National Bureau is 201910363994.6, and the name is a transport vehicle and warehousing system, including: a vehicle body, a driving wheel system and a climbing assembly. The driving wheel system is arranged at the bottom of the vehicle body, and the driving wheel system is used to drive the transport vehicle to move horizontally. The climbing assembly is arranged on both sides of the vehicle body, and the climbing assembly is used to engage with the track set on the shelf so that the transport vehicle can climb vertically along the direction of the track. The transport vehicle provided by the embodiment of the present invention can not only move horizontally but also climb vertically on the shelves, which enriches the operation track of the transport vehicle and thus improves the operation efficiency of the transport vehicle. However, the structure has the following problems: 1. During the movement of the vehicle body, if the weight on top is too heavy, it is easy to tilt, which can easily damage the items on top and cause the items to be scrapped; 2. The structure only transports the items and cannot place them in the empty space of the storage rack corresponding to the storage. Manual handling is required, which increases labor costs and reduces work efficiency; 3. The current transport vehicle requires manual transportation and cannot achieve automatic operation, which further reduces work efficiency, and therefore needs to be improved. Summary of the invention

[0004] The purpose of the present invention is to provide an automated transport vehicle for warehousing, which solves the problem that the existing transport vehicle may easily tilt during movement if the weight on top is too heavy, which may damage the items on top and cause the items to be scrapped; at the same time, the current vehicle body is only used to transport items, but cannot place them in the empty space of the storage rack corresponding to the warehouse, and manual handling is required, which increases labor costs and reduces work efficiency; in addition, the current transport vehicle requires manual transportation and cannot achieve automatic operation, which further reduces the work efficiency.

[0005] To solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The present invention is an automated transport vehicle for warehousing, comprising a mobile transport vehicle body, wherein an anti-tilt angle sensor is arranged at the front and rear of the bottom of the mobile transport vehicle body, a flexible mechanical arm is arranged on the mobile transport vehicle body, a rotating cylinder is arranged at the end of the flexible mechanical arm, a triangular rotating seat is arranged on the piston rod of the rotating cylinder, one side of the triangular rotating seat is connected to the piston rod of the rotating cylinder, two inclined surfaces of the triangular rotating seat are respectively connected to a mounting bracket and a pneumatic manipulator for grabbing products, cameras for scanning storage racks and a two-dimensional code identifier for identifying storage rack data information on the side of each compartment of the storage rack are respectively arranged on both sides of the mounting bracket, a groove is arranged on the table top of the mobile transport vehicle body, two linear guide rails are arranged at intervals in the groove, a cover plate is covered in the groove, a sliding gap exists between the front and rear ends of the cover plate and the groove, a sliding bracket is slidably connected between the two linear guide rails, and the sliding bracket The bottom of the moving bracket is provided with a sliding seat slidably connected to the corresponding linear guide rail, and a driving motor is provided on the side of one of the linear guide rails, and the driving motor can drive the sliding seat on the linear guide rail on the same side to slide along the linear guide rail. The two sides of the sliding bracket are slidably connected in the corresponding sliding gaps in the front and rear, and a product placement table bracket located above the cover plate is fixed above the sliding bracket, and more than one pressure detection sensor is arranged at intervals on the product placement table bracket. The product placement table bracket is provided with more than one layer of product stacking racks that can be freely combined, and the bottom layer of product stacking racks is threadedly connected to the product placement table bracket by more than one locking screw, and other layers of product stacking racks are overlapped in sequence as required, and a controller is provided in the mobile transport vehicle body, and the controller is electrically connected to the soft robotic arm, rotating cylinder, driving motor, QR code reader, pressure detection sensor, anti-tilt angle sensor and camera.

[0007] Preferably, in order to facilitate later maintenance, a maintenance cabinet door is hinged on the side of the mobile transport vehicle body, and the maintenance cabinet door is provided with heat dissipation holes and a transparent observation window.

[0008] Preferably, in order to improve the connection strength, two spaced reinforcing beams are provided at the center of the bottom of the cover plate, and the bottom of the reinforcing beams is connected to the mobile transport vehicle body. The bottom of the cover plate is also provided with four U-shaped positioning beams distributed left and right, front and back, and the bottom of the U-shaped positioning beams is connected to the mobile transport vehicle body.

[0009] Preferably, to facilitate assembly, a magnetic groove is disposed around the upper surface of each product stacking rack, and a metal rod magnetically connected to the magnetic groove is disposed around the lower surface of each product stacking rack.

[0010] Preferably, to realize automatic path planning, the controller is also connected to a path planning system, and a limit touch sensor electrically connected to the controller is provided on the side of the linear guide rail.

[0011] Preferably, an electric universal pulley is arranged around the bottom of the mobile transport body, the electric universal pulley is communicatively connected with the controller, and each electric universal pulley is provided with an angle detection sensor for detecting the rotation angle of the electric universal pulley.

[0012] Preferably, it also includes a large-screen touch display electrically connected to the controller, wherein the large-screen touch display is fixed on a video bracket, and the video bracket is rotatably connected to the table top of the mobile transport vehicle body.

[0013] Preferably, it also includes an audible and visual alarm, an infrared sensor and a strobe light electrically connected to the controller, the strobe light is arranged in a ring shape on the side of the mobile transport body, and the infrared sensor is used to sense whether there is a person approaching.

[0014] Preferably, an L-shaped bracket is provided on the side of the mobile transport vehicle body, and a waist-shaped through hole is provided on the crossbeam of the L-shaped bracket, and the waist-shaped through hole serves as a towing hanging hole.

[0015] Preferably, a push-pull rod is provided on both the front and rear sides of the mobile transport vehicle body.

[0016] The present invention has the following beneficial effects: through the arrangement of the present invention, products are moved and transported automatically, and the empty layer positions and information of the storage racks can be automatically identified, and materials are automatically loaded without manual loading, thereby further improving work efficiency and reducing labor costs. In addition, the structure has the advantages of automatic anti-tilting and improved transportation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of an automated transport vehicle for warehousing in Example 1;

[0018] Figure 2 for Figure 1Enlarged view of part A;

[0019] Figure 3 Schematic diagram of the connection of the cover plate, linear guide rail, and product placement table bracket in Embodiment 1;

[0020] Figure 4 For Figure 3 Schematic diagram of the bottom structure;

[0021] Figure 5 Electrical connection reference diagram of the controller and other electronic devices in Embodiment 1;

[0022] Figure 6 Electrical connection reference diagram of the controller and other electronic devices in Embodiment 2;

[0023] Figure 7 Schematic diagram of the structure of an automated transport vehicle for warehousing in Embodiment 3;

[0024] Figure 8 Schematic diagram of the structure of an automated transport vehicle for warehousing in Embodiment 4.

[0025] Reference numerals:

[0026] Mobile transport vehicle body 1, anti-tilt angle sensor 2, flexible robotic arm 3, rotary cylinder 4, triangular rotary base 5, mounting bracket 6, pneumatic manipulator 7, camera 8, two-dimensional code reader 9, linear guide rail 10, cover plate 11, sliding gap 12, sliding bracket 13, slide 14, drive motor 15, product placement table bracket 16, pressure detection sensor 17, product stacking rack 18, locking screw 19, controller 20, path planning system 21, maintenance cabinet door 22, heat dissipation hole 23, transparent observation window 24, strengthening beam 25, C-shaped positioning beam 26, limit touch sensor 27, magnetic attraction groove 28, metal rod 29, electric universal pulley 30, angle detection sensor 31, sound and light alarm 32, infrared sensor 33, strobe light 34, L-shaped bracket 35, waist-shaped through hole 36, push-pull rod 37, large-screen touch display screen 38, video bracket 39. Detailed implementation manners

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0028] Embodiment 1

[0029] Please refer to Figure 1-Figure 5As shown, the present embodiment discloses an automated transport vehicle for warehousing, comprising a mobile transport body 1, wherein an anti-tilt angle sensor 2 is provided at the front and rear of the bottom of the mobile transport body 1, a soft mechanical arm 3 is provided on the mobile transport body 1, a rotating cylinder 4 is provided at the end of the soft mechanical arm 3, a triangular rotating seat 5 is provided on the piston rod of the rotating cylinder 4, one side of the triangular rotating seat 5 is connected to the piston rod of the rotating cylinder 4, and two inclined surfaces of the triangular rotating seat 5 are respectively connected to a mounting bracket 6 and a device for grabbing products. A pneumatic manipulator 7 is provided, and cameras 8 for scanning the storage rack and a two-dimensional code identifier 9 for identifying the storage rack data information on the side of each compartment of the storage rack are respectively provided on both sides of the mounting bracket 6. A groove is provided on the table of the mobile transport vehicle body 1, and two linear guide rails 10 are provided in the groove at intervals. A cover plate 11 is covered in the groove, and a sliding gap 12 is provided between the front and rear ends of the cover plate 11 and the groove. A sliding bracket 13 is slidably connected between the two linear guide rails 10, and a bottom of the sliding bracket 13 is provided with A slide 14 is slidably connected to the corresponding linear guide 10, and a drive motor 15 is arranged on the side of one of the linear guides 10, and the drive motor 15 can drive the slide 14 on the linear guide 10 on the same side to slide and connect along the linear guide 10, and the two sides of the sliding bracket 13 are slidably connected in the corresponding sliding gaps 12 in the front and rear, and a product placement table bracket 16 located above the cover plate 11 is fixed above the sliding bracket 13, and one or more pressure detection sensors 17 are arranged at intervals on the product placement table bracket 16, and more than one layer of product stacking racks 18 that can be freely combined are arranged on the product placement table bracket 16, and the bottom layer of product stacking racks 18 are threadedly connected to the product placement table bracket 16 by more than one locking screws 19, and the other layers of product stacking racks 18 are overlapped in sequence as required, and a controller 20 is arranged in the mobile transport body 1, and the controller 20 is electrically connected to the soft robotic arm 3, the rotating cylinder 4, the drive motor 15, the two-dimensional code recognizer 9, the pressure detection sensor 17, the anti-tilt angle sensor 2 and the camera 8.

[0030] Preferably, in order to facilitate later maintenance, a maintenance cabinet door 22 is hinged on the side of the mobile transport body 1, and the maintenance cabinet door 22 is provided with heat dissipation holes 23 and a transparent observation window 24. A limit touch sensor 27 electrically connected to the controller 20 is provided on the side of the linear guide rail 10. By setting the limit touch sensor 27, the horizontal movement position of the upper product placement table bracket 16 is limited. The maintenance cabinet door 22 is added, so that when the controller 20 fails later, the maintenance cabinet door 22 can be opened to expose the controller 20 for maintenance operations, which is convenient for later maintenance.

[0031] Preferably, in order to improve the connection strength, two spaced reinforcing beams 25 are provided at the center of the bottom of the cover plate 11, and the bottom of the reinforcing beams 25 is connected to the mobile transport vehicle body 1. The bottom of the cover plate 11 is also provided with four U-shaped positioning beams 26 distributed left and right, front and back, and the bottom of the U-shaped positioning beams 26 is connected to the mobile transport vehicle body 1. The connection strength of the cover plate 11 is further improved through the above-mentioned structural arrangement.

[0032] Preferably, for easy combination, each product stacking rack 18 is provided with a magnetic groove 28 around the upper surface, and each product stacking rack 18 is provided with a metal rod 29 magnetically connected to the magnetic groove 28 around the lower surface. Through the above-mentioned structural arrangement, multiple layers of product stacking racks 18 can be formed as needed, and they can be stacked in sequence.

[0033] Preferably, an electric universal pulley 30 is arranged around the bottom of the mobile transport body 1, and the electric universal pulley 30 is communicatively connected with the controller 20, and an angle detection sensor 31 for detecting the rotation angle of the electric universal pulley 30 is arranged on each electric universal pulley 30. By setting the angle detection sensor 31, the rotation angle of the UI electric universal pulley 30 can be detected to improve safety and realize the automatic movement process.

[0034] Preferably, an L-shaped bracket 35 is provided on the side of the mobile transport body 1, and a waist-shaped through hole 36 is provided on the crossbeam of the L-shaped bracket 35. The waist-shaped through hole 36 is used as a towing hanging hole. By providing the waist-shaped through hole 36, it is convenient to plug the hook into the waist-shaped through hole 36 later to quickly tow the faulty transport vehicle.

[0035] Preferably, a push-pull rod 37 is provided on both the front and rear sides of the mobile transport vehicle body 1. By providing the push-pull rod 37 on both sides, it is convenient to manually move the transport vehicle.

[0036] The working principle of the present invention is as follows: first, the mobile transport body 1 is placed in the warehouse, and then the mobile transport body 1 is automatically moved with its own electric universal pulley 30, and then the soft mechanical arm 3 above the mobile transport body 1 cooperates with the pneumatic manipulator 7 to place the required products on the product stacking racks 18 on each layer. At this time, the pressure detection sensor 17 below checks the pressure conditions at each position. Once a certain pressure point is too high, it means that the position of the product is offset when it is placed, and it is easy to tilt. At the same time, an anti-tilt angle sensor 2 is set at the bottom to realize anti-tilt inspection of the entire equipment, further avoiding the problem of tilting during transportation of products and damaging the products above; at the same time, this structure adds multi-layer stacked product stacking racks 18, which can place more products as required and improve transportation efficiency; in addition, when placing products on the product stacking rack 18 on the storage rack, this structure first moves them to the corresponding position, Then drive the soft robotic arm 3 to work, first let the camera 8 work to scan each layer of the storage rack at that position, find an empty layer, and then drive the QR code recognizer 9 to work to identify the information of the empty layer storage rack, which includes the storage rack number and number of layers, and then drive the pneumatic manipulator 7 to pick up the products on the product stacking rack 18 and place them in the corresponding empty layer until the products are taken out, and then let the device return to its original position to continue to grab the products and put them into the product stacking rack 18 to realize the reciprocating motion of the above steps. Therefore, the present invention is set to use automated movement and transportation of products, and can automatically identify the empty layer position and information of the storage rack, and automatically load materials without manual loading, thereby further improving work efficiency and reducing labor costs; and when the present structure is working, it can also drive the drive motor 15 to work, drive the product placement table bracket 16 to move horizontally, and further facilitate the pneumatic manipulator 7 to grab products.

[0037] Example 2

[0038] See also Figure 6 As shown, the present embodiment discloses an automated transport vehicle for warehousing, which preferably realizes automatic path planning. The controller 20 is also connected to a path planning system 21, and the path planning system 21 is set to realize automatic planning of the route of the transport vehicle.

[0039] Example 3

[0040] See also Figure 7 As shown, an automated transport vehicle for warehousing disclosed in this embodiment preferably also includes a large-screen touch display screen 38 electrically connected to the controller 20, and the large-screen touch display screen 38 is fixed on a video bracket 39, and the video bracket 39 is rotatably connected to the table top of the mobile transport vehicle body 1. The large-screen touch display screen 38 is added through the above-mentioned structural setting to realize the display of various data, which is convenient for users to view.

[0041] Example 4

[0042] See also Figure 8 As shown, the present embodiment discloses an automated transport vehicle for warehousing, preferably, also includes a sound and light alarm 32, an infrared sensor 33 and a strobe light 34 electrically connected to the controller 20, wherein the strobe light 34 is arranged in a ring on the side of the mobile transport body 1, and the infrared sensor 33 is used to sense whether a person is approaching. In the present embodiment, when the infrared sensor 33 is arranged to detect when a human body is approaching, and when the equipment is working, the strobe light 34 is used to flash to remind, and the sound and light alarm 32 is used to alarm and remind when the product fails or a human body approaches, so as to improve safety.

[0043] The above are only preferred embodiments of the present invention and do not limit the present invention. Any modification to the technical solutions recorded in the aforementioned embodiments, any equivalent replacement of some of the technical features therein, and any modification, equivalent replacement, and improvement made are all within the protection scope of the present invention.

Claims

1. An automated transport vehicle for warehousing, characterized in that: The invention comprises a mobile transport vehicle body (1), wherein an anti-tilt angle sensor (2) is arranged at the front and rear of the bottom of the mobile transport vehicle body (1), a soft mechanical arm (3) is arranged on the mobile transport vehicle body (1), a rotating cylinder (4) is arranged at the end of the soft mechanical arm (3), a triangular rotating seat (5) is arranged on the piston rod of the rotating cylinder (4), one side of the triangular rotating seat (5) is connected to the piston rod of the rotating cylinder (4), two inclined surfaces of the triangular rotating seat (5) are respectively connected to a mounting bracket (6) and a pneumatic manipulator (7) for grabbing products, and the mounting bracket (6) ) are respectively provided with cameras (8) for scanning the storage racks and a two-dimensional code identifier (9) for identifying the storage rack data information on the side of each compartment of the storage rack, a groove is provided on the table of the mobile transport vehicle body (1), two linear guide rails (10) are arranged in the groove at intervals, a cover plate (11) is covered in the groove, a sliding gap (12) is provided between the front and rear ends of the cover plate (11) and the groove, a sliding bracket (13) is slidably connected between the two linear guide rails (10), and a sliding bracket (13) is provided at the bottom of the sliding bracket (13) which is slidably connected to the corresponding linear guide rail (10) A slide (14) is provided with a driving motor (15) on the side of one of the linear guide rails (10), and the driving motor (15) can drive the slide (14) on the linear guide rail (10) on the same side to slide along the linear guide rail (10), and the two sides of the sliding bracket (13) are slidably connected in the corresponding sliding gaps (12) at the front and rear, and a product placement table bracket (16) located above the cover plate (11) is fixed above the sliding bracket (13), and more than one pressure detection sensor (17) is arranged on the product placement table bracket (16) at intervals, and a pressure detection sensor (17) is arranged on the product placement table bracket (16) There are more than one layer of product stacking racks (18) that can be freely combined. The bottom layer of product stacking racks (18) is threadedly connected to the product placement table bracket (16) through more than one locking screw (19), and the other layers of product stacking racks (18) are sequentially overlapped as required. A controller (20) is arranged in the mobile transport vehicle body (1), and the controller (20) is electrically connected to the soft robotic arm (3), the rotary cylinder (4), the drive motor (15), the two-dimensional code recognizer (9), the pressure detection sensor (17), the anti-tilt angle sensor (2) and the camera (8).

2. The automated transport vehicle for warehousing according to claim 1, characterized in that: A maintenance cabinet door (22) is hinged on the side of the mobile transport vehicle body (1), and the maintenance cabinet door (22) is provided with heat dissipation holes (23) and a transparent observation window (24).

3. The automated transport vehicle for warehousing according to claim 2, characterized in that: Two spaced reinforcing beams (25) are provided at the center of the bottom of the cover plate (11), and the bottom of the reinforcing beams (25) is connected to the mobile transport vehicle body (1). The bottom of the cover plate (11) is also provided with four U-shaped positioning beams (26) distributed left and right, front and back, and the bottom of the U-shaped positioning beams (26) is connected to the mobile transport vehicle body (1).

4. The automated transport vehicle for warehousing according to claim 3, characterized in that: A magnetic groove (28) is arranged around the upper surface of each product stacking rack (18), and a metal rod (29) magnetically connected to the magnetic groove (28) is arranged around the lower surface of each product stacking rack (18).

5. The automated transport vehicle for warehousing according to claim 4, characterized in that: The controller (20) is also connected to a path planning system (21), and a limit touch sensor (27) electrically connected to the controller (20) is arranged on the side of the linear guide rail (10).

6. The automated transport vehicle for warehousing according to claim 4, characterized in that: An electric universal pulley (30) is arranged around the bottom of the mobile transport vehicle body (1), the electric universal pulley (30) is communicatively connected with the controller (20), and an angle detection sensor (31) for detecting the rotation angle of the electric universal pulley (30) is arranged on each electric universal pulley (30).

7. The automated transport vehicle for warehousing according to claim 4, characterized in that: It also includes a large-screen touch display screen (38) electrically connected to the controller (20), wherein the large-screen touch display screen (38) is fixed on a video bracket (39), and the video bracket (39) is rotatably connected to the table top of the mobile transport vehicle body (1).

8. The automated transport vehicle for warehousing according to claim 4, characterized in that: It also includes an audible and visual alarm (32), an infrared sensor (33) and a flashing light (34) electrically connected to the controller (20); the flashing light (34) is arranged in a ring shape on the side of the mobile transport body (1); and the infrared sensor (33) is used to sense whether a person is approaching.

9. The automated transport vehicle for warehousing according to claim 4, characterized in that: An L-shaped bracket (35) is arranged on the side of the mobile transport vehicle body (1), and a waist-shaped through hole (36) is arranged on the crossbeam of the L-shaped bracket (35), and the waist-shaped through hole (36) serves as a towing hanging hole.

10. The automated transport vehicle for warehousing according to claim 4, characterized in that: A push-pull rod (37) is provided on both the front and rear sides of the mobile transport vehicle body (1).

Images