Goods transfer system and method of AGV (Automatic Guided Vehicle)

Abstract

The cargo transfer system comprises the AGV, a lifting transfer device and a warehousing device, the lifting transfer device comprises a transfer unit capable of doing lifting motion, the transfer unit comprises a low-position state and a high-position state, and when the transfer unit is in the low-position state, the lifting transfer device can move up and down, and when the transfer unit is in the high-position state, the lifting transfer device can move up and down; the AGV carrier can run on the ground to be in butt joint with the feeding end of the transfer unit, and goods on the AGV carrier can be transferred to the transfer unit. When the transfer unit is in the high-position state, the discharging end of the transfer unit is in butt joint with the feeding end of the warehousing device, and goods 3 on the transfer unit can be transferred to the warehousing device; the multiple transfer units and the multiple warehousing devices provide multiple different cargo transfer modes, all the transfer units and the warehousing devices use the same transfer lifting device, the multiple transfer units and the warehousing devices are combined according to the types of cargos to be transferred, the transfer work of most cargos can be completed, and the transfer efficiency of the cargos is improved. And the space utilization rate of intelligent warehousing can be greatly improved.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent warehousing, and more specifically, is a cargo transfer system and transfer method of an AGV transport vehicle. Background Art

[0002] With the development of smart warehousing, the transfer methods of smart warehousing have gradually diversified, and special goods can only be transferred through specific transfer methods. The common smart warehousing transfer system can only be used for one transfer method, which leads to the failure to improve the space utilization rate of smart warehousing. When there is a shortage of goods, most of the storage space of smart warehousing is idle, which leads to a significant increase in the operating costs of smart warehousing. Summary of the invention

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a cargo transfer system and method for an AGV transporter, provides a variety of different cargo transfer methods, and the transfer units and warehousing devices corresponding to the various cargo transfer methods can use the same transfer lifting device, thereby greatly improving the space utilization rate of intelligent warehousing.

[0004] Technical solution: To achieve the above-mentioned purpose, a cargo transfer system and transfer method of an AGV transporter are provided, including an AGV transporter, a lifting and transferring device and a warehousing device. The lifting and transferring device includes a transfer unit that can perform lifting and lowering movements. The transfer unit includes a low position state and a high position state. When the transfer unit is in the low position state, the AGV transporter can travel on the ground to dock with the feed end of the transfer unit. In the docking state, the cargo on the AGV transporter can be transferred to the transfer unit; when the transfer unit is in the high position state, the discharge end of the transfer unit docks with the feed end of the warehousing device, and the cargo 3 on the transfer unit can be transferred to the warehousing device.

[0005] Furthermore, the lifting and transferring device includes a first frame and a second frame which are symmetrically arranged, a lifting and mounting bracket is movably arranged between the first frame and the second frame under the constraint of the vertical guide device, and the transfer unit is detachably mounted on the lifting and mounting bracket.

[0006] Furthermore, the warehousing device is a warehousing conveyor belt transport line, and the transfer unit is a mobile fork. The mobile fork includes a pair of parallel fork arms, each fork arm is parallel to the first frame or the second frame, and the fork arm driving device can drive the two fork arms to translate along the length direction to the front and rear sides between the first frame and the second frame.

[0007] Furthermore, the warehousing device is a warehousing conveyor belt transport line, and the transfer unit includes two conveyor belt units arranged in parallel, and the two conveyor belt units extend along the front-to-back direction between the first frame and the second frame. The AGV transport vehicle can travel between the first frame and the second frame. When the AGV transport vehicle travels between the first frame and the second frame, the lifting structure of the AGV transport vehicle is between the two conveyor belt units, and the extension line of the warehousing conveyor belt transport line is between the two conveyor belt units.

[0008] Furthermore, the warehousing device is a warehousing shuttle, which travels on the shuttle track. The transfer unit includes two support bars arranged in parallel and a temporary shuttle track. The temporary shuttle track is installed on a lifting and mounting bracket. The temporary shuttle track rises and falls synchronously with the lifting and mounting bracket. When the transfer unit is in a high position, the temporary shuttle track is docked with the shuttle track. Both support bars extend along the front and rear direction between the first frame and the second frame. The AGV transporter can travel between the first frame and the second frame. When the AGV transporter travels between the first frame and the second frame, the lifting structure of the AGV transporter is between the two support bars. When the warehousing shuttle travels on the temporary shuttle track, the warehousing shuttle is below the two support bars, and the lifting structure of the warehousing shuttle is on the lower side between the two support bars.

[0009] Furthermore, a pushing robot that can move freely on the ground is arranged on the side of the lifting and transferring device away from the warehousing device, and a pushing device is arranged on the pushing robot, which can move up and down relative to the pushing robot. The warehousing device is a warehousing shuttle car, and the warehousing shuttle car travels on the shuttle car track. The transfer unit includes a temporary shuttle car track, and the temporary shuttle car track is installed on the lifting and mounting bracket. The temporary shuttle car track rises and falls synchronously with the lifting and mounting bracket. When the transfer unit is in a high position, the temporary shuttle car track is docked with the shuttle car track; when the warehousing shuttle car is located on the temporary shuttle car track, and the temporary shuttle car track is in a low position, and the AGV transporter is docked with the feeding end of the temporary shuttle car track, the pushing robot can push the goods on the AGV transporter onto the bearing surface at the upper end of the temporary shuttle car track.

[0010] Further, a method for transferring cargo using an AGV transport vehicle's cargo transfer system:

[0011] Step 1: Install the transfer unit on the lifting and mounting bracket according to the usage scenario of the transfer task;

[0012] Step 2: The side of the lifting and transferring device away from the storage device is called the storage side, and the AGV transporter is controlled to move the pallet carrying the goods to the storage side of the lifting and transferring device;

[0013] Step 3: by lifting the driving device of the transfer device, the transfer unit installed on the lifting installation bracket moves along with the lifting installation bracket to the position of the low position;

[0014] Step 4: Control the AGV to lift the goods upward until the goods reach the position where the AGV docks with the feed end of the transfer unit;

[0015] Step 5: Control the AGV transporter to dock with the feed end of the lifting and transferring device, so that the goods on the AGV transporter are transferred to the transfer unit;

[0016] Step 6: By lifting the driving device of the transfer device, the transfer unit installed on the lifting installation bracket moves to the position of the high position along with the lifting installation bracket;

[0017] Step 7: Control the discharging end of the transfer unit to connect with the feeding end of the storage device, so that the goods on the transfer unit are transferred to the storage device:

[0018] Step 8: Use the driving device of the warehousing device to transfer the goods to the warehouse.

[0019] Beneficial effect: A cargo transfer system and method for an AGV transporter, which provides a variety of different cargo transfer methods through a variety of transfer units and a variety of warehousing devices, and the transfer units and warehousing devices corresponding to the various cargo transfer methods can use the same transfer lifting device, and a variety of transfer units and warehousing devices can be combined according to the types of cargo to be transported, thereby completing the transfer of most cargoes and greatly improving the space utilization rate of intelligent warehousing. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of a cargo transfer system of an AGV transport vehicle of the present invention;

[0021] Figure 2 A schematic diagram of an AGV transporter carrying a pallet carrying goods;

[0022] Figure 3 It is a front view of the lifting and transferring device in the first embodiment of the present invention;

[0023] Figure 4 It is a left side view of the lifting and transferring device in the first embodiment of the present invention;

[0024] Figure 5 A transfer flow chart of the transfer method according to the first embodiment of the present invention;

[0025] Figure 6 It is a top view of a lifting and transferring device in a second embodiment of the present invention;

[0026] Figure 7 It is a front view of a lifting and transferring device in a second embodiment of the present invention;

[0027] Figure 8 A transfer flow chart of the transfer method according to the second embodiment of the present invention;

[0028] Fig. 9 It is a top view of a lifting and transferring device in a third embodiment of the present invention;

[0029] Fig.10 It is a front view of a lifting and transferring device in a third embodiment of the present invention;

[0030] Fig.11 A transfer flow chart of the transfer method according to the third embodiment of the present invention; DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the accompanying drawings.

[0032] like Figure 1 As shown, a cargo transfer system and transfer method of an AGV transporter include an AGV transporter 1, a lifting and transferring device 2 and a warehousing device. The lifting and transferring device 2 includes a transfer unit that can perform lifting and lowering movements. The transfer unit includes a low position state and a high position state. When the transfer unit is in the low position state, the AGV transporter 1 can travel on the ground to dock with the feed end of the transfer unit. In the docking state, the cargo 3 on the AGV transporter 1 can be transferred to the transfer unit; when the transfer unit is in the high position state, the discharge end of the transfer unit docks with the feed end of the warehousing device, and the cargo 3 on the transfer unit can be transferred to the warehousing device.

[0033] The lifting and transferring device 2 includes a first frame 4 and a second frame 5 which are symmetrically arranged. A lifting and mounting bracket 6 is movably arranged between the first frame 4 and the second frame 5 under the constraint of a vertical guide device. The transfer unit is detachably mounted on the lifting and mounting bracket 6 .

[0034] A transfer method of a cargo transfer system of an AGV transport vehicle of the present invention:

[0035] Step 1: Install the transfer unit on the lifting and mounting bracket 6 according to the usage scenario of the transfer task;

[0036] Step 2: The side of the lifting and transferring device 2 away from the storage device is referred to as the storage side, and the AGV transporter 1 is controlled to transport the pallet 21 carrying the goods 3 to the storage side of the lifting and transferring device 2;

[0037] Step 3: by lifting the driving device of the transfer device 2, the transfer unit installed on the lifting installation bracket 6 moves along with the lifting installation bracket 6 to the position of the low position;

[0038] Step 4: Control the AGV transporter 1 to lift the goods 3 upward until the goods 3 reach the position where the AGV transporter 1 is docked with the feed end of the transfer unit;

[0039] Step 5: Control the AGV transporter 1 to dock with the feed end of the lifting and transferring device 2, so that the goods 3 on the AGV transporter 1 are transferred to the transfer unit;

[0040] Step 6: by lifting the driving device of the transfer device 2, the transfer unit installed on the lifting installation bracket 6 moves along with the lifting installation bracket 6 to the position of the high position;

[0041] Step 7: Control the discharging end of the transfer unit to dock with the feeding end of the storage device, so that the goods 3 on the transfer unit are transferred to the storage device:

[0042] Step 8: The storage device is driven by the drive device to transfer the goods 3 to the warehouse.

[0043] like Figures 3 to 5 As shown, in the first embodiment of the present invention, the warehousing device is the warehousing conveyor belt transport line 7, the transfer unit is the mobile fork 9, the mobile fork 9 includes a pair of parallel fork arms 10, each fork arm 10 is parallel to the first frame 4 and the second frame 5; the side of the first frame 1 and the second frame 2 away from the warehousing conveyor belt transport line 7 is the front side, and the side of the first frame 1 and the second frame 2 away from the warehousing conveyor belt transport line 7 is the rear side, and the fork arm driving device can drive the two fork arms 10 to translate along the length direction to the front side and the rear side between the first frame 4 and the second frame 5; the two fork arms 10 are parallel to the first frame 4 and the second frame 5; The arm 10 is slidably fitted on the two guide devices 11, and each guide device 11 includes a fixed guide rail and a sliding guide rail. The two fixed guide rails are arranged parallel to the first frame 4 and the second frame 5, and are fixedly installed on the lifting mounting bracket 6. The two sliding guide rails are respectively slidably fitted on the two fixed guide rails through guide bars, and the two fork arms 10 are respectively slidably fitted on the two sliding guide rails through guide bars. In the initial state, the mobile fork 9 and the lifting mounting bracket 6 are in a high position, and the two fork arms 10 and the two sliding guide rails are located between the first frame 1 and the second frame 2.

[0044] In the first embodiment of the present invention, a method for transferring cargo in an AGV transport vehicle system is described as follows:

[0045] Step 1: Install the mobile fork 9 on the lifting mounting bracket 6, and the mobile fork 9 is arranged parallel to the first frame 4 and the second frame 5;

[0046] Step 2: The AGV transporter 1 transports the pallet 21 carrying the goods 3 to the storage side of the lifting and transferring device 2;

[0047] Step 3: Control and start the lifting drive device 23, so that the lifting mounting bracket 6 and the moving fork 9 move downward to a position where they dock with the AGV transport vehicle 1 under the action of the linkage structure;

[0048] Step 4: In the state of step 3, the lifting plate 22 on the lifting structure 14 of the AGV transporter 1 is controlled to lift upward, so that the lower end of the pallet 21 carrying the goods 3 rises to above the moving fork 9;

[0049] Step 5: In the state of step 4, the fork arm driving device is controlled to drive the two fork arms 26 of the mobile fork 24 to move toward the front side between the first frame 1 and the second frame 2. When the two fork arms 26 move to the end of the two sliding guide rails close to one end of the front side between the first frame 1 and the second frame 2, under the drive of the fork arm driving device, the two fork arms 26 and the two sliding guide rails simultaneously move toward the front side between the first frame 1 and the second frame 2 relative to the fixed guide rail until the two fork arms 26 move away from one end of the fixed guide rail to the side of the pallet 21 carrying the goods 3 away from the lifting and transfer device 2, and then the fork arm driving device is controlled to be paused;

[0050] Step 6: Under the state of step 5, the lifting drive device 23 is controlled to start, so that the lifting mounting bracket 6 and the moving fork 9 are slowly lifted upward under the action of the linkage structure, until the two fork arms 10 of the moving fork 9 first contact the bottom of the pallet 21 carrying the goods 3, and then the two fork arms 10 of the moving fork 9 lift the pallet 21 carrying the goods 3 and the lifting mounting bracket 6 slowly upward under the action of the linkage structure, until the lifting mounting bracket 6 rises to the mobile fork 9 above the storage conveyor belt transport line 7 under the joint action of the lifting drive device and the linkage structure, at this time, the lifting drive device 23 is controlled to be paused; then the two fork arms 10 of the moving fork 9 are controlled to translate along the fork guide rail 11 to the side close to the storage conveyor belt transport line 7, until the two fork arms 10 of the moving fork 9 carry the pallet 21 carrying the goods 3 to the top of the transport surface 8 of the storage conveyor belt transport line 7, at this time, the fork arm driving device is controlled to be paused;

[0051] Step 7: Then, the lifting drive device 23 is controlled to start, so that the lifting mounting bracket 6 moves downward under the joint action of the lifting drive device and the linkage structure, and the two fork arms 10 of the moving fork 9 lift the pallet 21 carrying the goods 3 and descend together with the lifting mounting bracket 6; until the lower surface of the pallet 21 carrying the goods 3 contacts the transport surface 8 of the storage conveyor belt transport line 7, at this time, the lifting drive device 23 is controlled to be suspended;

[0052] Step eight: control and start the driving device of the storage conveyor belt transport line 7, so that the pallet 21 carrying the goods 3 moves toward the warehouse under the drive of the transport surface 8 of the storage conveyor belt transport line 7, thereby completing the storage process.

[0053] like Figures 6 to 8 As shown, in the second embodiment of the present invention, the warehousing device is a warehousing conveyor belt transport line 7, and the transfer unit includes two conveyor belt units 12 arranged in parallel, and the two conveyor belt units 12 extend along the front-to-back direction between the first frame 4 and the second frame 5. The AGV transporter 1 can travel between the first frame 4 and the second frame 5. When the AGV transporter 1 travels between the first frame 4 and the second frame 5, the lifting structure 14 of the AGV transporter 1 is between the two conveyor belt units 12, and the extension line of the warehousing conveyor belt transport line 7 is between the two conveyor belt units 12; in the initial state, the two conveyor belt units 12 and the lifting mounting bracket 6 are in a high position, and the transfer surfaces 13 of the two conveyor belt units 12 are on the same horizontal plane as the transport surface 8 of the warehousing conveyor belt transport line 7.

[0054] In the second embodiment of the present invention, a method for transferring cargo in an AGV transport vehicle system is described as follows:

[0055] Step 1: symmetrically install two conveyor belt units 12 on both sides of the two first frames 4 and the second frames 5 close to the lifting installation bracket 6, and the two conveyor belt units 12 are arranged parallel to the first frames 4 and the second frames 5;

[0056] Step 2: The AGV transporter 1 transports the pallet 21 carrying the goods 3 to the storage side of the lifting and transferring device 2;

[0057] Step 3: Control and start the lifting drive device 23, so that the lifting mounting bracket 6 and the two conveyor belt units 12 move downward to a position where they dock with the AGV transport vehicle 1 under the action of the linkage structure;

[0058] Step 4: In the state of step 3, the lifting plate 22 on the lifting structure 14 of the AGV transporter 1 is controlled to lift upward, so that the bottom surface of the pallet 21 carrying the goods 3 rises to above the transfer surface 13 of the two conveyor belt units 12;

[0059] Step 5: In the state of step 4, the lifting structure 14 of the AGV transporter 1 is controlled to lift the pallet 21 carrying the goods 3 and drive it to the inside of the lifting and transferring device 2, and then the lifting plate 22 of the lifting structure 14 of the AGV transporter 1 is controlled to retract downward until the bottom of the pallet 21 carrying the goods 3 is simultaneously erected on the transfer surfaces 13 of the two conveyor belt units 12; then the lifting structure 14 of the AGV transporter 1 is controlled to retract downward until the lifting plate 9 on the lifting structure 14 is in contact with the upper end of the frame of the AGV transporter 1, and then the AGV transporter 1 is controlled to drive away from the internal range of the lifting and transferring device 2;

[0060] Step 6: Control and start the lifting drive device 23, so that the lifting mounting bracket 6 and the two conveyor belt units 12 are slowly lifted upward under the action of the linkage structure, and the two conveyor belt units 12 carry the pallet 21 carrying the goods 3 and the lifting mounting bracket 6 and slowly lift upward under the action of the linkage structure;

[0061] Step 7: When the lifting installation bracket 6 rises to the point where the transfer surfaces 13 of the two conveyor belt units 12 are at the same level as the transport surface 8 of the incoming conveyor belt transport line 7, the lifting drive device 23 is controlled to be suspended, and the transfer surfaces 13 of the two conveyor belt units 12 are controlled to be transmitted in the direction of the incoming conveyor belt transport line 7, until the end of the pallet 21 carrying the goods 3 mounted on the transfer surfaces 13 of the two conveyor belt units 12 close to the incoming conveyor belt transport line 7 contacts the transport surface 8 of the incoming conveyor belt transport line 7 under the transmission action of the transfer surface 13;

[0062] Step 8: Control and start the driving device of the warehousing conveyor belt transport line 7, so that the pallet 21 carrying the goods 3 moves toward the warehouse under the joint action of the transport surface 8 of the warehousing conveyor belt transport line 7 and the transfer surfaces 13 of the two conveyor belt units 12, thereby completing the warehousing process.

[0063] In the second embodiment of the present invention, a detection device can be set on the two conveyor belt units 12, and the detection device is electrically connected to the driving devices of the two conveyor belt units 12 and the lifting driving device 23. When the AGV transporter 1 sets the pallet 21 carrying the goods 3 on the transfer surface 13 of the two conveyor belt units 12, the detection device detects the type of the goods 3. If the detection device detects that the goods 3 are goods stored in this warehouse, the running time of the lifting driving device 23 is controlled, thereby controlling the lifting height of the lifting transfer device, so that the goods 3 are stored in the correct position; if the detection device detects that the goods 3 are not stored in this warehouse, When the goods are being loaded, this information is transmitted to the main control system, which designates an idle AGV transporter to move to the storage side of the lifting and transferring device 2 and dock with the feeding ends of the two conveyor belt units 12, and then the detection device controls the driving devices of the two conveyor belt units 12 to drive in reverse, so that the transfer surfaces 13 of the two conveyor belt units 12 are transmitted to the front sides of the first frame 4 and the second frame 5, so that the pallet 21 carrying the goods 3 mounted on the transfer surfaces 13 of the two conveyor belt units 12 is moved from the front sides of the first frame 4 and the second frame 5 to the lifting plate 22 of the idle AGV transporter, thereby avoiding confusion of the goods stored in the warehouse.

[0064] like Figures 9-11As shown, in the third embodiment of the present invention, the warehousing device is a warehousing shuttle 15, and the warehousing shuttle 15 travels on the shuttle track 16. The lifting and mounting bracket 6 is provided with a temporary shuttle track 18, and the temporary shuttle track 18 is synchronously lifted and lowered with the lifting and mounting bracket 6. When the transfer unit is in a high position, the temporary shuttle track 18 is docked with the shuttle track 16; the transfer unit includes two support bars 20 arranged in parallel, and the two support bars 20 extend along the front-to-back direction between the first frame 4 and the second frame 5. The AGV transporter 1 can travel between the first frame 4 and the second frame 5. When the AGV transporter 1 travels to When the first frame 4 is between the second frame 5, the lifting structure 14 of the AGV transporter 1 is between the two support bars 20, and when the warehouse shuttle 15 travels on the temporary shuttle track 18, the warehouse shuttle 15 is below the two support bars 20, and the lifting structure of the warehouse shuttle 15 is on the lower side between the two support bars 20. In the initial state, the warehouse shuttle 15 is located on the shuttle driving surface 17 of the shuttle driving track 16, the two support bars 20 and the lifting mounting bracket 6 are in a high position, and the temporary driving surface 19 of the shuttle temporary track 18 is on the same horizontal plane as the shuttle driving surface 17 of the shuttle driving track 16.

[0065] In the third embodiment of the present invention, a method for transferring cargo in an AGV transport vehicle system is described:

[0066] Step 1: Two support bars 20 are symmetrically installed on both sides of the two first frames 4 and the second frames 5 close to the lifting installation bracket 6, and the two support bars 20 are arranged parallel to the first frame 4 and the second frame 5;

[0067] Step 2: The AGV transporter 1 transports the pallet 21 carrying the goods 3 to the storage side of the lifting and transferring device 2;

[0068] Step 3: Control and start the lifting drive device 23, so that the lifting mounting bracket 6 and the two support bars 20 move downward to a position where they are docked with the AGV transport vehicle 1 under the action of the linkage structure;

[0069] Step 4: In the state of step 3, the lifting plate 22 on the lifting structure 14 of the AGV transporter 1 is controlled to lift upward, so that the bottom end of the pallet 21 carrying the goods 3 rises above the bearing surface of the two support bars 20;

[0070] Step 5: In the state of step 4, the lifting structure 14 of the AGV transporter 1 is controlled to lift the pallet 21 carrying the goods 3 and drive it to the inside of the lifting and transferring device 2, and then the lifting plate 22 of the lifting structure 14 of the AGV transporter 1 is controlled to retract downward until the bottom of the pallet 21 carrying the goods 3 is simultaneously erected on the bearing surfaces of the two support bars 20; then the lifting structure 14 of the AGV transporter 1 is controlled to retract downward until the lifting plate 9 on the lifting structure 14 is in contact with the upper end of the frame of the AGV transporter 1, and then the AGV transporter 1 is controlled to drive away from the internal range of the lifting and transferring device 2;

[0071] Step 6: Control and start the lifting drive device 23, so that the lifting installation bracket 6 and the two support bars 20 are slowly lifted upward under the action of the linkage structure, and the two support bars 20 support the pallet 21 carrying the goods 3 and the lifting installation bracket 6 are slowly lifted upward under the action of the linkage structure;

[0072] Step 7: When the lifting installation bracket 6 rises to the point where the temporary running surface 19 of the shuttle temporary track 18 provided on the lifting bracket 6 and the shuttle running surface 17 of the shuttle running track 16 are at the same level, the lifting drive device 23 is controlled to be paused; then the warehouse shuttle 15 is controlled to travel along the shuttle running surface 17 of the shuttle running track 16 to the temporary running surface 19 of the shuttle temporary track 18 provided on the lifting bracket 6, until the warehouse shuttle 15 travels to the temporary running surface 19 below the pallet 21 carrying the goods 3, and then the lifting plate 25 of the warehouse shuttle is controlled to be lifted upward, so that the pallet 21 carrying the goods 3 mounted on the bearing surfaces of the two support bars 20 is separated from the two support bars 20;

[0073] Step 8: Control the warehousing shuttle 15 to travel along the temporary running surface 19 of the shuttle temporary track 18 set on the lifting bracket 6 to the shuttle running surface 17 of the shuttle running track 16, and then the warehousing shuttle 15 transfers the goods to the warehouse along the shuttle running surface 17 of the shuttle running track 16, thereby completing the warehousing process.

[0074] like Fig.11As shown, in the fourth embodiment of the present invention, a lifting and transferring device 2 is provided with a pushing robot (not shown in the figure) that can move freely on the ground on the side away from the warehousing device, and a pushing device is provided on the pushing robot, which can move up and down relative to the pushing robot, and the warehousing device is a warehousing shuttle 15, and the warehousing shuttle 15 travels on the shuttle track 16, and the transfer unit includes a shuttle temporary track 18, and the shuttle temporary track 18 is installed on the lifting and mounting bracket 6, and the shuttle temporary track 18 is synchronously lifted and lowered with the lifting and mounting bracket 6, and when the transfer unit is in a high position, the shuttle temporary track 18 is docked with the shuttle track 16; when the warehousing device is a warehousing shuttle 15, the warehousing shuttle 15 travels on the shuttle track 16, and the transfer unit includes a shuttle temporary track 18, and the shuttle temporary track 18 is installed on the lifting and mounting bracket 6, and the shuttle temporary track 18 is synchronously lifted and lowered with the lifting and mounting bracket 6, and when the transfer unit is in a high position, the shuttle temporary track 18 is docked with the shuttle track 16; The warehouse shuttle 15 is located on the shuttle temporary track 18, and the shuttle temporary track 18 is in a low position. When the AGV transporter 1 is docked with the feeding end of the shuttle temporary track 18, the pushing robot can push the goods on the AGV transporter 1 to the bearing surface at the upper end of the shuttle temporary track 18. In the initial state, the warehouse shuttle 15 is located on the shuttle driving surface 17 of the shuttle driving track 16, the two support bars 20 and the lifting mounting bracket 6 are in a high position, the temporary driving surface 19 of the shuttle temporary track 18 and the shuttle driving surface 17 of the shuttle driving track 16 are on the same horizontal plane, and the pushing robot is stationary near the lifting and transferring device 2.

[0075] In the fourth embodiment of the present invention, a method for transferring cargoes of an AGV transport vehicle system is described:

[0076] Step 1: Two support bars 20 are symmetrically installed on both sides of the two first frames 4 and the second frames 5 close to the lifting installation bracket 6, and the two support bars 20 are arranged parallel to the first frame 4 and the second frame 5;

[0077] Step 2: The AGV transporter 1 transports the pallet 21 carrying the goods 3 to the storage side of the lifting and transferring device 2;

[0078] Step 3: Control the inbound shuttle 15 to travel along the shuttle driving surface 17 of the shuttle driving track 16 to the temporary driving surface 19 of the shuttle temporary track 18 set on the lifting bracket 6, and then control the start of the lifting drive device 23, so that the lifting mounting bracket 6 and the two support bars 20 move downward to the position where they are docked with the AGV transporter 1 under the action of the linkage structure;

[0079] Step 4: In the state of step 3, the lifting plate 22 on the lifting structure 14 of the AGV transporter 1 is controlled to lift upward, so that the bottom end of the pallet 21 carrying the goods 3 rises above the bearing surface of the two support bars 20;

[0080] Step 5: In the state of step 4, the pushing robot is controlled to move to the side of the AGV transport vehicle 1 away from the lifting and transferring device 2, and then the pushing top end of the pushing device on the pushing robot is controlled to face the side of the pallet 21 carrying the goods 3 on the AGV transport vehicle 1 away from the lifting and transferring device 2, and then the pushing device rises relative to the pushing robot to be flush with the pallet 21 carrying the goods 3 on the AGV transport vehicle 1, and then the pushing top end of the pushing device is controlled to push, so that the end face of the pushing top end of the pushing device is controlled to contact the side face of the pallet 21 carrying the goods 3 on the AGV transport vehicle 1 away from the lifting and transferring device 2, and under the action of the pushing top end of the pushing device, the pallet 21 carrying the goods 3 on the AGV transport vehicle 1 is moved and erected on the bearing surfaces of the two support bars 20, and then the pushing top end of the pushing device on the pushing robot is controlled to retract to outside the range of the lifting and transferring device 2;

[0081] Step 6: Control and start the lifting drive device 23, so that the lifting installation bracket 6 and the two support bars 20 are slowly lifted upward under the action of the linkage structure, and the two support bars 20 support the pallet 21 carrying the goods 3 and the lifting installation bracket 6 are slowly lifted upward under the action of the linkage structure;

[0082] Step 7: When the lifting installation bracket 6 rises to the point where the temporary running surface 19 of the shuttle temporary track 18 set on the lifting bracket 6 and the shuttle running surface 17 of the shuttle running track 16 are at the same level, the lifting drive device 23 is controlled to be paused; then the warehouse shuttle 15 is controlled to move along the temporary running surface 19 of the shuttle temporary track 18 to the temporary running surface 19 below the pallet 21 carrying the goods 3, and then the lifting plate 25 of the warehouse shuttle is controlled to be lifted upward, so that the pallet 21 carrying the goods 3 mounted on the bearing surface of the two support bars 20 is separated from the two support bars 20;

[0083] Step 8: Control the warehousing shuttle 15 to travel along the temporary running surface 19 of the shuttle temporary track 18 set on the lifting bracket 6 to the shuttle running surface 17 of the shuttle running track 16, and then the warehousing shuttle 15 transfers the goods to the warehouse along the shuttle running surface 17 of the shuttle running track 16, thereby completing the warehousing process.

[0084] The above are preferred embodiments of the present invention. It should be pointed out that a person skilled in the art may make several improvements and modifications without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the protection scope of the present invention.

Claims

1. A cargo transfer system for an AGV transport vehicle, characterized in that: The invention comprises an AGV transport vehicle (1), a lifting and transferring device (2) and a storage device, wherein the lifting and transferring device (2) comprises a transfer unit capable of lifting and lowering movement, wherein the transfer unit comprises a low position state and a high position state, and when the transfer unit is in the low position state, the AGV transport vehicle (1) can travel on the ground until it docks with the feed end of the transfer unit, and in the docking state, the goods (3) on the AGV transport vehicle (1) can be transferred to the transfer unit; when the transfer unit is in the high position state, the discharge end of the transfer unit docks with the feed end of the storage device, and the goods (3) on the transfer unit can be transferred to the storage device.

2. The cargo transfer system of an AGV transport vehicle according to claim 1, characterized in that: The lifting and transferring device (2) comprises a first frame (4) and a second frame (5) which are symmetrically arranged, a lifting and mounting bracket (6) being movably arranged between the first frame (4) and the second frame (5) under the constraint of a vertical guide device, and the transferring unit is detachably mounted on the lifting and mounting bracket (6).

3. The cargo transfer system of an AGV transport vehicle according to claim 2, characterized in that: The warehousing device is a warehousing conveyor belt transport line (7), the transfer unit is a mobile fork (9), the mobile fork (9) comprises a pair of parallel fork arms (10), each of the fork arms (10) is parallel to the first frame (4) or the second frame (5), and the fork arm driving device can drive the two fork arms (10) to translate along the length direction to the front side and the rear side between the first frame (4) and the second frame (5).

4. The cargo transfer system of an AGV transport vehicle according to claim 2, characterized in that: The warehousing device is a warehousing conveyor belt transport line (7), the transfer unit comprises two conveyor belt units (12) arranged in parallel, the two conveyor belt units (12) both extend along the front-rear direction between the first frame (4) and the second frame (5), the AGV transport vehicle (1) can travel between the first frame (4) and the second frame (5), when the AGV transport vehicle (1) travels between the first frame (4) and the second frame (5), the lifting structure (14) of the AGV transport vehicle (1) is between the two conveyor belt units (12), and the extension line of the warehousing conveyor belt transport line (7) is between the two conveyor belt units (12).

5. The cargo transfer system of an AGV transport vehicle according to claim 2, characterized in that: The storage device is a storage shuttle (15), and the storage shuttle (15) travels on a shuttle track (16). The transfer unit includes two support bars (20) arranged in parallel and a temporary shuttle track (18). The temporary shuttle track (18) is installed on a lifting installation bracket (6). The temporary shuttle track (18) rises and falls synchronously with the lifting installation bracket (6). When the transfer unit is in a high position, the temporary shuttle track (18) is docked with the shuttle track (16); the two support bars (20) are connected along the first frame (4) and the second frame The AGV transport vehicle (1) extends in the front-to-rear direction between the first frame (4) and the second frame (5), and the AGV transport vehicle (1) can travel between the first frame (4) and the second frame (5). When the AGV transport vehicle (1) travels between the first frame (4) and the second frame (5), the lifting structure (14) of the AGV transport vehicle (1) is between the two support bars (20), and when the warehouse shuttle vehicle (15) travels on the shuttle vehicle temporary track (18), the warehouse shuttle vehicle (15) is below the two support bars (20), and the lifting structure of the warehouse shuttle vehicle (15) is on the lower side between the two support bars (20).

6. The cargo transfer system of an AGV transport vehicle according to claim 2, characterized in that: A push-up robot capable of moving freely on the ground is arranged on the side of the lifting and transferring device (2) away from the storage device. The push-up robot is provided with a push-up device, and the push-up device can move up and down relative to the push-up robot. The storage device is a storage shuttle (15), and the storage shuttle (15) travels on a shuttle track (16). The transfer unit includes a temporary shuttle track (18), and the temporary shuttle track (18) is installed on the lifting and mounting bracket (6). (18) is raised and lowered synchronously with the lifting installation bracket (6). When the transfer unit is in a high position, the shuttle temporary track (18) is docked with the shuttle track (16); when the incoming shuttle (15) is located on the shuttle temporary track (18), and the shuttle temporary track (18) is in a low position, and the AGV transport vehicle (1) is docked with the feed end of the shuttle temporary track (18), the pushing robot can push the goods on the AGV transport vehicle (1) to the bearing surface at the upper end of the shuttle temporary track (18).

7. The method for transferring cargo using an AGV transport vehicle according to claim 1, characterized in that: Step 1: Install the transfer unit on the lifting and mounting bracket (6) according to the usage scenario of the transfer task; Step 2: The side of the lifting and transferring device (2) away from the storage device is referred to as the storage side, and the AGV transport vehicle (1) is controlled to move the pallet (21) carrying the goods (3) to the storage side of the lifting and transferring device (2); Step 3: by lifting the driving device of the transfer device (2), the transfer unit installed on the lifting installation bracket (6) moves along with the lifting installation bracket (6) to the position of the low position; Step 4: Control the AGV transport vehicle (1) to lift the cargo (3) upward until the cargo (3) reaches the position where the AGV transport vehicle (1) is docked with the feed end of the transfer unit; Step 5: Control the AGV transport vehicle (1) to dock with the feed end of the lifting and transfer device (2), so that the goods (3) on the AGV transport vehicle (1) are transferred to the transfer unit; Step 6: by lifting the driving device of the transfer device (2), the transfer unit installed on the lifting installation bracket (6) moves along with the lifting installation bracket (6) to the position of the high position; Step 7: Control the discharging end of the transfer unit to dock with the feeding end of the storage device, so that the goods (3) on the transfer unit are transferred to the storage device: Step 8: The storage device is driven by the storage device to transfer the goods (3) to the warehouse.

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