Centering device, automatic guide vehicle and transfer method of automatic guide vehicle

Abstract

The invention relates to the technical field of cargo conveying, and discloses a centering device, an automatic guide vehicle and a transfer method. The centering device comprises a conveying device used for conveying goods into and out of the automatic guiding vehicle; and the conveying device is installed on the moving device, and the moving device bearing the conveying device can horizontally move in the horizontal direction. The conveying device used for conveying cargoes into or out of the automatic guide vehicle is installed on the moving device, when the automatic guide vehicle runs to a connection point, if the center of the centering device deviates from the connection point, the moving device can correct the offset by horizontally moving in the horizontal direction, so that the centering device is aligned with the connection point, and the automatic guide vehicle can be used for conveying the cargoes into or out of the connection point. And the conditions of material blocking, goods dumping, goods damage and scrapping caused by the fact that the goods are not aligned with the connection point are avoided, the distribution takt is prevented from being influenced, the automatic distribution efficiency is guaranteed, and the installation and maintenance cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of cargo transportation, and in particular to a centering device, an automatic guided vehicle and a transfer method. Background Art

[0002] Automated Guided Vehicle (AGV) is a transport vehicle widely used in automated conveying systems. When traditional AGVs dock and deliver goods, in addition to relying on the high-precision positioning of the AGV itself, other guiding devices need to be installed to assist the AGV in feeding. In this case, higher requirements are placed on the customer site.

[0003] In actual production operations, due to precision errors and limited docking platform size, AGVs get stuck during docking and delivery, and in serious cases, they can tip over and damage the goods, causing them to be scrapped. This ultimately increases installation and maintenance costs and affects automated delivery efficiency. Summary of the invention

[0004] In view of this, the present invention provides a centering device, an automatic guided vehicle and a transfer method to solve the problem that the AGV is not aligned with the docking platform, causing material jamming and cargo damage.

[0005] In a first aspect, the present invention provides a centering device suitable for docking an automatic guided vehicle with a connection point of a conveyor line; the centering device comprises:

[0006] a conveying device for conveying goods into and out of the automatic guided vehicle;

[0007] A mobile device, the conveying device is installed on the mobile device, and the mobile device carrying the conveying device can translate in a horizontal direction.

[0008] Beneficial effects: The conveying device used to deliver goods into or out of the automatic guided vehicle is installed on the mobile device. When the automatic guided vehicle runs to the docking point, if the center of the centering device deviates from the docking point, the mobile device can correct the offset by horizontal translation to align the centering device with the docking point, thereby avoiding material jamming and cargo dumping caused by misalignment with the docking point, preventing cargo damage and scrapping, avoiding affecting the delivery rhythm, ensuring the efficiency of automated delivery, and reducing installation and maintenance costs.

[0009] In an optional embodiment, the conveying device comprises:

[0010] A driving mechanism, adapted to provide driving force for the conveying device;

[0011] A pulley transmission mechanism is transmission-connected to the driving mechanism; the pulley transmission mechanism comprises a conveyor belt, and a transmission direction of the conveyor belt is perpendicular to a driving direction of the automatic guided vehicle.

[0012] Beneficial effects: The belt wheel transmission mechanism is used to transport goods, which has a simple structure. The belt wheel transmission has a large contact area and can withstand greater pressure, thereby reducing the loss of transmission energy and improving transmission efficiency. It is also suitable for transporting goods.

[0013] In an optional embodiment, the mobile device includes:

[0014] frame;

[0015] A mobile platform is slidably arranged on the frame; the conveying device is mounted on the mobile platform;

[0016] The platform drive is transmission-connected with the mobile platform.

[0017] Beneficial effect: The mobile platform slides horizontally along the lower edge of the platform drive, so that when the center of the centering device deviates from the connection point, it is convenient to calibrate the position through the horizontal movement of the mobile platform, which is convenient for automatic control and has high reliability.

[0018] In an optional embodiment, the centering device further includes:

[0019] The limiting structure is arranged at the end of the conveying device.

[0020] Beneficial effect: A limit structure is provided at the end of the conveying device to prevent the goods from rushing out of the conveying device and being damaged due to inertia or external force.

[0021] In an optional embodiment, the centering device further includes:

[0022] A positioning sensor, adapted to detect whether the goods on the conveying device have reached a designated position;

[0023] A visual sensor is adapted to detect whether the centering device is aligned with the docking point.

[0024] Beneficial effects: The positioning sensor is used to detect whether the goods on the conveying device have arrived at the designated position, ensuring the accuracy of the parking position of the goods and facilitating the fixation of the goods; the visual sensor is used to detect whether the centering device is aligned with the connection point of the conveyor line, so as to make timely corrections and adjustments to ensure that the material is not stuck, the goods will not fall over, and the goods will be avoided from being damaged, thus ensuring the efficiency of goods transportation.

[0025] In an optional embodiment, the centering device further includes a fastening device, and the fastening device includes:

[0026] A clamping portion, disposed near the conveying device, adapted to clamp and fix the cargo arriving at a designated position on the conveying device;

[0027] A fastening drive is drivingly connected to the clamping portion.

[0028] Beneficial effects: Setting a fastening device to position and clamp the cargo prevents the cargo from moving and tipping over during transportation, thus reducing the risk of cargo damage.

[0029] In a second aspect, the present invention further provides an automatic guided vehicle, comprising:

[0030] AGV body;

[0031] The centering device described in any of the above items is installed on the AGV body.

[0032] Beneficial effect: The automatic guided vehicle includes the centering device of the present invention, and therefore has the same technical effect as the centering device. If the connection point deviates from the conveyor line during docking, timely approval and adjustment can be made to prevent material jamming and cargo dumping, thereby ensuring the cargo transfer rhythm and improving the transportation reliability of the automatic guided vehicle.

[0033] In an optional embodiment, the automatic guided vehicle is a multi-layer automatic guided vehicle, comprising:

[0034] Lower body;

[0035] The upper vehicle body is arranged on the lower vehicle body; the centering device is arranged on both the upper vehicle body and the lower vehicle body.

[0036] Beneficial effects: By using multi-layer automatic guided vehicles, different layers can receive different goods or goods or pallets of goods in different production stages, optimize the transfer method, improve transportation efficiency and production efficiency, and thus meet the requirements of automated and efficient operation.

[0037] In a third aspect, the present invention further provides a transfer method applicable to any of the above-mentioned automatic guided vehicles, the method comprising:

[0038] Get the alignment of the centering device and the conveyor line connection point;

[0039] If the center of the centering device is not aligned with the docking point, the moving device is controlled to translate until the center of the centering device is aligned with the docking point.

[0040] Beneficial effect: By obtaining the alignment status of the centering device and the connection point of the conveyor line, it is determined whether the centering device and the connection point of the conveyor line are aligned. If not, the mobile device is controlled to move in translation so that the centering device and the connection point are aligned, thereby improving the reliability and efficiency of cargo transportation.

[0041] In an optional embodiment, the transport method further comprises:

[0042] Obtaining location information of goods on the conveyor;

[0043] If the cargo arrives at the designated location, the fastening device is controlled to clamp the cargo.

[0044] Beneficial effect: By obtaining the position information of the goods on the conveying device, it is determined whether the goods have arrived at the designated location. After arriving at the designated location, the fastening device is controlled to clamp the goods to prevent the goods from tipping over or shifting during transportation, ensuring that the goods are not damaged and avoiding unnecessary losses. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related technologies, the drawings required for use in the specific embodiments or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 It is a schematic diagram of the main structure of a centering device according to an embodiment of the present invention;

[0047] Figure 2 It is a schematic diagram of the deviation between the center of the centering device and the connection point of the conveyor line;

[0048] Figure 3 It is a schematic diagram of the alignment state between the center of the centering device and the connection point of the conveyor line;

[0049] Figure 4 This is a schematic diagram of the main structure of a double-decker automatic guided vehicle according to an embodiment of the present invention;

[0050] Figure 5 A schematic diagram of a transport method according to an embodiment of the present invention;

[0051] Figure 6 A schematic flow chart of another transport method according to an embodiment of the present invention;

[0052] Figure 7 The present invention is a schematic diagram of a flow chart of another transport method according to an embodiment of the present invention.

[0053] Description of reference numerals:

[0054] 10. Centering device;

[0055] 1. Conveying device;

[0056] 2. Mobile device;

[0057] 3. Positioning sensor;

[0058] 4. Visual sensor;

[0059] 5. Fastening device;

[0060] 6. Limiting structure;

[0061] 20. Conveyor line;

[0062] 30. Connection point. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0064] In the description of the invention, it should be noted that, unless otherwise specified, the meaning of "plurality" is two or more; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0065] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0066] Combine the following Figures 1 to 7 , describing an embodiment of the present invention.

[0067] According to an embodiment of the present invention, on the one hand, Figure 1 As shown, a centering device 10 is provided, which is suitable for docking an automatic guided vehicle with a docking point 30 of a conveyor line 20; the centering device 10 includes:

[0068] A conveying device 1, used for conveying goods into and out of the automatic guided vehicle;

[0069] The mobile device 2, the conveying device 1 is installed on the mobile device 2, and the mobile device 2 carrying the conveying device 1 can translate in the horizontal direction.

[0070] The conveying device 1 for delivering goods into or out of the automatic guided vehicle is installed on the moving device 2. When the automatic guided vehicle runs to the docking point 30, if the center of the centering device 10 deviates from the docking point 30, the moving device 2 can correct the offset by translating in the horizontal direction, so that the centering device 10 is aligned with the docking point 30, thereby avoiding material jamming and cargo dumping caused by misalignment with the docking point 30, preventing cargo damage and scrapping, avoiding affecting the delivery rhythm, ensuring the efficiency of automated delivery, and reducing installation and maintenance costs.

[0071] Figure 2 and Figure 3 The states when the center of the centering device 10 deviates from the connection point 30 of the conveyor line 20 and the states when the center of the centering device 10 is aligned with the connection point 30 of the conveyor line 20 are respectively given.

[0072] In an optional embodiment, the conveying device 1 comprises:

[0073] A driving mechanism, adapted to provide driving force for the conveying device 1;

[0074] A pulley transmission mechanism is transmission-connected to the driving mechanism; the pulley transmission mechanism comprises a conveyor belt, and a transmission direction of the conveyor belt is perpendicular to a driving direction of the automatic guided vehicle.

[0075] The use of a pulley transmission mechanism to transport goods has a simple structure. The pulley transmission has a large contact area and can withstand greater pressure, thereby reducing the loss of transmission energy and improving transmission efficiency. It is also suitable for transporting goods.

[0076] Of course, in some other embodiments, the transmission mechanism may also adopt a transmission mechanism of gears and pulleys, or other transmission mechanisms in the relevant technology, which are not specifically limited here.

[0077] In some embodiments, the mobile device 2 comprises:

[0078] frame;

[0079] A mobile platform is slidably disposed on the frame; the conveying device 1 is mounted on the mobile platform;

[0080] The platform drive is transmission-connected with the mobile platform.

[0081] The mobile platform slides horizontally along the lower edge of the platform drive, so that when the center of the centering device 10 deviates from the docking point 30, it is convenient to perform position calibration through the horizontal movement of the mobile platform, which is convenient for automatic control and has high reliability.

[0082] In some embodiments, the centering device 10 further includes:

[0083] The limiting structure 6 is arranged at the end of the conveying device 1 .

[0084] A limiting structure 6 is provided at the end of the conveying device 1 to prevent the goods from rushing out of the conveying device 1 and being damaged due to inertia or external force.

[0085] Specifically, the limiting structure 6 includes a stopper disposed at the end of the conveying device 1 to prevent the goods from falling through physical blocking.

[0086] In some embodiments, the centering device 10 further includes:

[0087] A positioning sensor 3, adapted to detect whether the goods on the conveying device 1 have reached a designated position;

[0088] The visual sensor 4 is adapted to detect whether the centering device 10 is aligned with the docking point 30 .

[0089] The positioning sensor 3 is used to detect whether the goods on the conveying device 1 have arrived at the designated position, so as to ensure the accuracy of the parking position of the goods and facilitate the fixation of the goods; the visual sensor 4 is used to detect whether the centering device 10 is aligned with the connection point 30 of the conveying line 20, so as to make timely corrections and adjustments to ensure that the material is not stuck, the goods will not fall over, the goods will be avoided from being damaged, and the efficiency of goods transportation is ensured.

[0090] In some embodiments, the centering device 10 further includes a fastening device 5, and the fastening device 5 includes:

[0091] A clamping portion, disposed near the conveying device 1, adapted to clamp and fix the cargo arriving at a designated position on the conveying device 1;

[0092] A fastening drive is drivingly connected to the clamping portion.

[0093] The fastening device 5 is provided to position and clamp the cargo to prevent the cargo from moving and tipping over during transportation, thereby reducing the risk of cargo damage.

[0094] According to an embodiment of the present invention, on the other hand, Figure 1 As shown, an automatic guided vehicle is also provided, comprising:

[0095] AGV body;

[0096] A centering device 10 is installed on the AGV body.

[0097] The automatic guided vehicle includes the centering device 10 of the present invention, and therefore has the same technical effect as the centering device 10. When docking, if the docking point 30 deviates from the conveyor line 20, it can also make timely approval and adjustments to prevent material jamming and cargo dumping, ensure the cargo transfer rhythm, improve the transportation reliability of the automatic guided vehicle, and realize automatic and precise alignment of the docking platform to transmit materials.

[0098] In some embodiments, Figure 4 As shown, the automatic guided vehicle is a double-layer automatic guided vehicle, comprising:

[0099] Lower body;

[0100] The upper vehicle body is arranged on the lower vehicle body; the centering device 10 is arranged on both the upper vehicle body and the lower vehicle body.

[0101] By using double-decker automated guided vehicles, the upper and lower levels can receive different goods or goods or pallets of goods at different production stages, optimize the transfer method, improve transportation efficiency and production efficiency, and thus meet the needs of automated and efficient operation.

[0102] According to an embodiment of the present invention, on the other hand, Figure 5 As shown, a transfer method is also provided, which is applicable to an automatic guided vehicle, and the method comprises:

[0103] S1, obtaining the alignment of the connection point 30 between the centering device 10 and the conveying line 20;

[0104] S2, determining whether the center of the centering device 10 is aligned with the docking point 30;

[0105] S3 . If the center of the centering device 10 is not aligned with the docking point 30 , control the moving device 2 to translate until the center of the centering device 10 is aligned with the docking point 30 .

[0106] By obtaining the alignment status of the connection point 30 between the centering device 10 and the conveyor line 20, it is determined whether the centering device 10 is aligned with the connection point 30 of the conveyor line 20. If not, the mobile device 2 is controlled to move in translation so that the centering device 10 is aligned with the connection point 30, thereby improving the reliability and efficiency of cargo transportation.

[0107] In some embodiments, Figure 6 As shown, the transport method comprises:

[0108] S1, obtaining the alignment of the connection point 30 between the centering device 10 and the conveying line 20;

[0109] S2, determining whether the center of the centering device 10 is aligned with the docking point 30;

[0110] S3, if the center of the centering device 10 is not aligned with the docking point 30, controlling the moving device 2 to translate until the center of the centering device 10 is aligned with the docking point 30;

[0111] S4, obtaining the location information of the goods on the conveying device 1;

[0112] S5, determining whether the goods have arrived at the designated location;

[0113] S6. If the cargo arrives at the designated location, the fastening device 5 is controlled to clamp the cargo.

[0114] By obtaining the position information of the goods on the conveying device 1, it is determined whether the goods have arrived at the designated position. After arriving at the designated position, the fastening device 5 is controlled to clamp the goods to prevent the goods from tipping over or shifting during transportation, ensure that the goods are not damaged, and avoid unnecessary losses.

[0115] As an embodiment of the present invention, Figure 4 As shown, the double-layer AGV with a centering device 10 includes a conveying device 1, a visual sensor 4, a moving device 2, a positioning sensor 3, a fastening device 5 and a stopper, and the functions of each module are as follows:

[0116] Conveyor 1: responsible for conveying materials in and out of AGV;

[0117] Visual sensor 4: detects whether the entire centering device 10 is aligned with the connection point 30 of the conveyor line 20; after being adjusted, the visual sensor 4 will have a built-in automatic recognition of specific cargo feature maps. When the key features of the cargo captured in the field of view in real time match the specified cargo features, the recognition is successful and the corresponding docking action is performed;

[0118] Mobile device 2: carries the entire conveying device 1, and performs horizontal calibration when the visual sensor 4 detects that the entire centering platform has a certain deviation relative to the connection point 30 of the conveying line 20;

[0119] Positioning sensor 3: detects whether the material on the conveyor belt has been delivered to the designated position;

[0120] Fastening device 5: fastening the material that has reached the designated position;

[0121] Stopper: A hard safety block that prevents materials from rushing out of the AGV.

[0122] The principle of alignment of the centering device 10 is that the main function of the centering device 10 in the material receiving process works together through multiple modules to ensure the safe and stable transportation of materials. When the double-layer AGV arrives at the designated location, the AGV has the function of automatically and accurately aligning with the docking station. At the same time, the material is automatically clamped and fixed when it is transported to the inside of the AGV body to prevent the material from shaking, tilting or collapsing during transportation. Through this series of automated operations, the centering device 10 realizes efficient and safe distribution of materials, which not only improves production efficiency, but also optimizes the entire logistics process, providing reliable support for modern automated distribution systems.

[0123] Figure 7 The process flow of materials transfer by automated guided vehicles is given.

[0124] (1) Centering device 10 material receiving step process:

[0125] When the AGV runs to the docking point 30, first, the deep vision detection sensor monitors the alignment of the entire centering platform and the docking point 30 of the conveyor line 20. If a deviation is detected, the mobile device 2 will move horizontally for calibration until the centering device 10 is aligned with the docking point 30, ensuring the smooth docking of the entire system; secondly, the conveying device 1 is responsible for delivering the material basket into the double-layer AGV body, with the upper layer receiving the empty material basket and the lower layer receiving the material basket; then, the positioning sensor 3 monitors in real time whether the material has arrived at the specified position accurately to ensure the accuracy of the material parking; the block is a rigid safety device to prevent the material from rushing out of the AGV; finally, when the material arrives at the specified position, the material fastening device 5 is quickly clamped and fixed to prevent tipping or movement during transportation, thereby reducing the risk of damage, waiting to execute the task of delivery to the docking point 30.

[0126] (2) Centering device 10 feeding step flow:

[0127] When the AGV runs to the docking point 30, first, the depth vision sensor 4 monitors the alignment of the entire centering device 10 and the docking point 30 of the conveyor line 20. If a deviation is detected, the moving device 2 will move horizontally for calibration until the centering device 10 is aligned with the docking point 30, ensuring smooth docking of the entire system; secondly, the material fastening device 5 will loosen the fixation on the material; then, the conveyor belt device is responsible for outputting the material inside the AGV body to the docking point 30 until it is completely delivered (that is, the positioning sensor 3 detects that it is empty); finally, the centering device 10 inside the AGV automatically returns to the zero position and waits for the next task to be executed.

[0128] The visual sensor 4 inside the AGV accurately identifies the docking status and automatically and accurately aligns with the docking platform through the centering device 10, improving docking accuracy and reducing human intervention. When the materials are transported to the inside of the AGV body, they are automatically clamped and fixed to ensure the safety and stability of the materials and reduce the risk of dumping and damage. This setting not only improves the safety and efficiency of material transportation, but also optimizes the production process, enhances the reliability and flexibility of the automated distribution system, and significantly reduces costs.

[0129] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A centering device, characterized in that: Suitable for docking an automatic guided vehicle with a docking point (30) of a conveyor line (20); the centering device (10) comprises: A conveying device (1) for conveying goods into and out of the automatic guided vehicle; A moving device (2), the conveying device (1) is installed on the moving device (2), and the moving device (2) carrying the conveying device (1) can translate in a horizontal direction.

2. The centering device according to claim 1, characterized in that The conveying device (1) comprises: A driving mechanism, adapted to provide driving force for the conveying device (1); A pulley transmission mechanism is transmission-connected to the driving mechanism; the pulley transmission mechanism comprises a conveyor belt, and a transmission direction of the conveyor belt is perpendicular to a driving direction of the automatic guided vehicle.

3. The centering device according to claim 1, characterized in that: The mobile device (2) comprises: frame; A mobile platform is slidably arranged on the frame; the conveying device (1) is mounted on the mobile platform; The platform drive is transmission-connected with the mobile platform.

4. The centering device according to claim 1, characterized in that The centering device (10) further comprises: A limiting structure (6) is arranged at the end of the conveying device (1).

5. The centering device according to claim 1, characterized in that: The centering device (10) further comprises: A positioning sensor (3) adapted to detect whether the goods on the conveying device (1) have reached a designated position; A visual sensor (4) is adapted to detect whether the centering device (10) is aligned with the docking point (30).

6. The centering device according to any one of claims 1 to 5, characterized in that The centering device (10) further comprises a fastening device (5), wherein the fastening device (5) comprises: A clamping portion, arranged near the conveying device (1), suitable for clamping and fixing the goods arriving at a designated position on the conveying device (1); A fastening drive is drivingly connected to the clamping portion.

7. An automatic guided vehicle, characterized in that: include: AGV body; The centering device (10) according to any one of claims 1 to 6, wherein the centering device (10) is installed on the AGV body.

8. The automatic guided vehicle according to claim 7, characterized in that: The automatic guided vehicle is a multi-layer automatic guided vehicle, comprising: Lower body; The upper vehicle body is arranged on the lower vehicle body; the centering device (10) is arranged on both the upper vehicle body and the lower vehicle body.

9. A transfer method, applicable to the automatic guided vehicle according to claim 7 or 8, characterized in that: The method comprises: Obtaining the alignment of the centering device (10) and the connection point (30) of the conveyor line (20); If the center of the centering device (10) is not aligned with the docking point (30), the moving device (2) is controlled to move in translation until the center of the centering device (10) is aligned with the docking point (30).

10. The transport method according to claim 9, characterized in that: Also includes: Obtaining location information of goods on the conveying device (1); If the goods arrive at the designated position, the fastening device (5) is controlled to clamp the goods.

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