Transportation automatic guided vehicle reciprocating in warehouse

Abstract

A transportation automatic guided vehicle reciprocating in a warehouse is characterized in that a lifting frame and a walking seat which can horizontally stretch out and draw back are arranged on the two sides of a vehicle body, a push plate capable of moving in the length direction is installed in the walking seat, and when the push plate moves, the lifting frame can be driven to vertically ascend and descend in a guide groove in the walking seat; the automatic guided vehicle is integrally expanded to form a gantry frame structure, the automatic guided vehicle in an expanded state and the automatic guided vehicle in a contracted state can avoid and advance without interference on a guide line, reciprocating walking of the automatic guided vehicle is achieved, the waiting time caused by trolley interference is greatly shortened through the function, and the working efficiency is improved. And the cargo transportation process is smoother, and the overall transportation efficiency is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV vehicles for transporting raw materials in warehouses or workshops, and more specifically to a transportation automatic guided vehicle that reciprocates in a warehouse. Background Art

[0002] An AGV vehicle, also known as an automatic guided vehicle, is an industrial vehicle that loads goods automatically or manually, travels automatically along a set route or tow a loaded trolley to a designated location, and then loads and unloads goods automatically or manually. It can achieve the directional movement of the vehicle through the guide lines arranged on the ground and is widely used in the transfer and transportation of goods and workpieces in logistics warehouses and workshops, such as workpieces like vehicle frames and axles. In a working scenario of a warehouse or workshop where there are multiple unloading locations matching a loading location, for example, various unclassified semi-finished workpieces, it is necessary to transport the corresponding workpieces to the set storage positions and wait for the next processing. It is necessary to arrange a guide line and several unloading points on the warehouse or workshop floor. To improve the transportation efficiency of goods, multiple groups of AGV vehicles are required. However, multiple groups of vehicles will interfere with each other on the guide line during the delivery and return trips. The delivery vehicle needs to wait for the return vehicle to return to the starting point before it can depart. Moreover, when multiple AGV vehicles operate together, they will block each other, resulting in a reduction in the raw material transportation efficiency. To solve the problem of walking interference, an additional return line is usually set between the unloading location and the loading location to form a circular loop. However, this not only prolongs the walking route of the vehicle but also occupies additional floor space in the warehouse or workshop, reducing the space utilization rate in the warehouse or workshop and significantly increasing the production cost. Summary of the Invention

[0003] The purpose of the present invention is to provide a transportation automatic guided vehicle that reciprocates in a warehouse. By switching its own contraction or expansion state, the delivery automatic guided vehicle and the return automatic guided vehicle can avoid each other and travel on the same guide line, realizing the reciprocating movement of the automatic guided vehicle. There is no need to set a circular loop, and the delivery automatic guided vehicle does not need to wait for the return automatic guided vehicle to return to the starting point, thus solving the problems in the prior art.

[0004] The technical solution adopted by the present invention to solve its technical problems is as follows: A transportation automatic guided vehicle that reciprocates in a warehouse, including a vehicle body, on which a tray is provided. On both sides of the vehicle body, there are installed lifting frames that can horizontally expand and contract. Corresponding to the lifting frames at the same side position, there are also walking seats on both sides of the vehicle body. The bottom of the walking seat is provided with walking wheels. A guide groove that cooperates with the lifting frame is opened on the walking seat. A push plate that can move along the length direction is also installed in the walking seat in a matching manner. When the push plate moves, it can drive the lifting frame to vertically lift and lower in the guide groove. Among them, a through groove for the lifting frame to fall into is opened on the push plate. One side of the through groove is provided with a lifting inclined surface. When the lifting inclined surface moves close to the lifting frame, it can push the lifting frame to vertically rise along the guide groove until the lifting frame is located at the top plane position of the push plate above the lifting inclined surface. The overall automatic guided vehicle forms a gantry frame structure. An elevating cylinder is also installed at the bottom of the vehicle body. An upper part of the side surface of the through groove away from the lifting inclined surface is provided with a limiting convex block. The lifting frame is provided with a limiting inclined surface that cooperates with the limiting convex block. When the limiting convex block is located at the upper side position of the limiting inclined surface, the piston rod of the elevating cylinder extends downward, and the lifting frame can drive the walking seat to move upward together to separate the walking wheels from the ground. A first motor is installed at one end in the length direction of the walking seat. The output shaft of the first motor extends into the walking seat and is connected to a lead screw. A through hole for the lead screw to pass through is opened in the push plate. A nut that cooperates with the lead screw is installed in the through hole. When the first motor starts, it can drive the push plate to move along the length direction of the walking seat. Corresponding to the position of the guide groove, a vertically arranged guide cylinder is installed on the outer side surface of the walking seat. A plurality of guide rods that can vertically lift and lower are installed in the guide cylinder in a matching manner. A limiting bolt is installed at the top of the uppermost guide rod. The lifting frame is provided with a guide plate fixedly connected to the bottom of the limiting bolt. A horizontally arranged guide sleeve is installed on the vehicle body at the bottom of the tray. A telescopic connecting rod is installed in the guide sleeve in a matching manner. The end of the connecting rod is installed with a lifting frame. Among them, a rack is installed on one side of the connecting rod. A first avoidance groove for the rack to expose is opened on the guide sleeve. A second motor is installed on the side part of the guide sleeve. A gear that meshes with the rack is installed on the output shaft of the second motor. When the second motor starts, it can drive the connecting rod and the lifting frame to perform horizontal telescopic movement. An oil storage cavity is opened in the lifting frame. A piston valve core is installed in the oil storage cavity in a matching manner. Hydraulic oil is contained in the oil storage cavity on one side of the piston valve core. The oil storage cavity at this side position is connected to the oil circuit of the elevating cylinder through an oil pipe. A return spring is also installed between the piston rod and the cylinder barrel of the elevating cylinder. The return spring always has a tendency to retract the piston rod of the elevating cylinder into the cylinder barrel. A pressure rod that passes through the oil storage cavity is installed on the other side of the piston valve core. The pressure rod is located at the lower side position of the limiting inclined surface. When the limiting convex block on the push plate is located at the upper side position of the limiting inclined surface, the push plate pushes the pressure rod and the piston valve core and overcomes the elastic force of the return spring to squeeze the hydraulic oil in the oil storage cavity into the oil circuit of the elevating cylinder, so that the piston rod of the elevating cylinder extends downward. Corresponding to the position of the pressure rod, a second avoidance groove that matches is opened on the top of the walking seat. The second avoidance groove is connected to the guide groove.Corresponding to each oil pipe, a cable bracket is installed between the lifting frame and the lifting cylinder. One end of the cable bracket is fixed to the lifting frame, and a through groove through which the cable bracket can pass is provided on the vehicle body at the position of the lifting cylinder. The oil pipe is located at the upper position of the cable bracket. Cameras are installed at both the front and rear ends of the vehicle body in the traveling direction. A wireless communication module and a guide wire sensor are installed on the vehicle body. A scheduling controller is installed in the walking area of the automatic guided vehicle. The camera can identify and photograph the guide wire at the position where the automatic guided vehicle is located, and transmit the position information of the automatic guided vehicle to the scheduling controller via the wireless communication module. The guide wire sensor can identify the guide wire and control the automatic guided vehicle to track along the guide wire. When the automatic guided vehicle carrying goods travels from the loading location to the unloading location and meets the empty automatic guided vehicle returning from the unloading location to the loading location at the turning position of the guide wire, the scheduling controller controls the empty automatic guided vehicle to stop walking. The automatic guided vehicle carrying goods passes through the turning position first. After the automatic guided vehicle carrying goods walks away from the turning position, the empty automatic guided vehicle starts walking again and returns to the loading location.

[0005] The positive effects of the present invention are as follows: For the automatic guided vehicle that reciprocates in the warehouse described in the present invention, lifting frames and walking seats that can horizontally expand and contract are provided on both sides of the vehicle body. A push plate that can move along the length direction is installed in the walking seat. When the push plate moves, it can drive the lifting frame to vertically lift in the guide groove of the walking seat, and make the whole automatic guided vehicle expand to form a gantry frame structure. On the guide line, the automatic guided vehicle in the expanded state and the automatic guided vehicle in the contracted state can perform non-interfering avoidance and travel, realizing the reciprocating walking of the automatic guided vehicle. This function greatly reduces the waiting time caused by vehicle interference, makes the goods transportation process smoother, and significantly improves the overall transportation efficiency. Compared with the traditional multi-loop layout method that requires setting up additional return lines, the automatic guided vehicle of the present invention can achieve avoidance by switching its own contraction or expansion state, without occupying additional ground space. This not only saves valuable site resources but also greatly reduces the production cost caused by setting up additional lines. Brief Description of the Drawings

[0006] Figure 1 is a schematic structural view of the present invention; Figure 2 is a front view of the present invention; Figure 3 is a schematic view of the state where the lifting frame enters the through groove in the push plate in the expanded state and the piston rod of the lifting cylinder extends downward; Figure 4 is a schematic view of the state where the lifting frame enters the through groove in the push plate in the contracted state and the piston rod of the lifting cylinder contracts; Figure 5 is Figure 2Top view of the state shown; Figure 6 is Figure 2 Right view of the state shown; Figure 7 is Figure 1 Schematic structural diagram of a push plate arranged in the walking seat in the state; Figure 8 Schematic structural diagram of the push plate; Figure 9 is Figure 4 Schematic diagram of the state where the lifting frame falls into the through groove in the push plate in the state; Figure 10 is Figure 2 Schematic diagram of the state where the limit bump is located above the limit inclined plane and the piston rod of the lifting cylinder extends downward in the state; Figure 11 is Figure 2 Cross-sectional view of the screw rod and the nut arranged between the walking seat and the push plate in the state; Figure 12 is Figure 5 Enlarged view of the A-A cross-sectional view in; Figure 13 is Figure 2 Enlarged view of the B-B cross-sectional view in; Figure 14 Schematic structural diagram of an oil storage cavity provided in the lifting frame; Figure 15 is that the present invention is in the contracted state, that is, Figure 4 Schematic diagram of the state; Figure 16 Schematic diagram of the walking of several automatic guided vehicles on the guide line; Figure 17 Schematic diagram of the state where the automatic guided vehicle in the contracted state and the automatic guided vehicle in the extended state avoid each other on the guide line. Detailed implementation mode

[0007] A transport automatic guided vehicle that reciprocates in a warehouse according to the present invention, as Figure 1-6 shown, includes a vehicle body. A tray 1 is provided on the vehicle body. The tray 1 is used to hold goods. Lifting frames 2 that can horizontally expand and contract are installed on both sides of the vehicle body. Corresponding to the lifting frames 2 at the same side position, walking seats 3 are also provided on both sides of the vehicle body. Walking wheels 6 are provided at the bottom of the walking seats 3. Among them, the walking wheels 6 can be tires with hub motors or in-wheel motors, which can provide driving force for the movement of the vehicle body. The lifting frames 2 and the walking seats 3 can contract or expand synchronously to realize the switching of the vehicle body state. The lifting frames 2 can vertically lift relative to the walking seats 3 to increase the space at the bottom of the vehicle body, ensuring that the bottom of the vehicle body after expansion can allow the automatic guided vehicle in the contracted state to pass through smoothly.

[0008] To achieve the directional vertical movement of the lifting frame 2 on the traveling seat 3, a guide groove 4 matching the lifting frame 2 is provided on the traveling seat 3, and a push plate 5 capable of moving along the length direction is also installed in the traveling seat 3. When the push plate 5 moves, it can drive the lifting frame 2 to vertically lift and lower in the guide groove 4.

[0009] To achieve the vertical lifting drive of the lifting frame 2 by the push plate 5 during movement, as Figure 7 and Figure 8 shown, a through groove 7 allowing the lifting frame 2 to fall into is provided on the push plate 5, and a lifting inclined surface 8 is provided on one side of the through groove 7. When the lifting inclined surface 8 moves closer to the lifting frame 2, it can push the lifting frame 2 to vertically rise along the guide groove 4 until the lifting frame 2 is located at the top plane position of the push plate 5 above the lifting inclined surface 8. At this time, the lifting frame 2 is in the Figure 1 shown stable state. The automated guided vehicle as a whole forms a gantry frame structure. In the extended state, it can vacate the space at the bottom of the vehicle body. The guided vehicle in the contracted state can pass through the space at the bottom of the vehicle body in the extended state, so as to achieve mutual avoidance and travel on the guide line.

[0010] During the process of the lateral contraction or expansion of the lifting frame 2 and the traveling seat 3, in order to avoid mutual friction between the traveling wheels 6 at the bottom of the traveling seat 3 and the ground, a lifting cylinder 9 is also installed at the bottom of the vehicle body. When the piston rod of the lifting cylinder 9 extends downward, it can drive the vehicle body and the lifting frame 2 to vertically lift. In order to enable the lifting frame 2 to drive the traveling seat 3 to vertically move upward together, a limiting convex block 10 is provided at the upper part of the side surface of the through groove 7 on the side far from the lifting inclined surface 8, and a limiting inclined surface 11 matching the limiting convex block 10 is provided on the lifting frame 2.

[0011] When the limiting convex block 10 completely enters the through groove 7 and the push plate 5 moves to make the limiting convex block 10 located at the upper side position of the limiting inclined surface 11, at this time, the upward movement of the lifting frame 2 will be limited by the push plate 5. When the piston rod of the lifting cylinder 9 extends downward, the lifting frame 2 can drive the traveling seat 3 to move upward together to separate the traveling wheels 6 from the ground.

[0012] When the automated guided vehicle is in the normal state of carrying goods, it is in the Figure 1 shown extended state. When it needs to travel on the common guide line for avoidance, it is in the Figure 15 shown contracted state. In the extended state, the lifting frame 2 is located at the plane position on the top of the push plate 5, and the lifting frame 2 and the traveling seat 3 extend out of both sides of the vehicle body, which can effectively increase the stability of the guided vehicle. At the same time, the overall formed gantry frame structure also leaves sufficient avoidance space at the bottom of the vehicle body. In the contracted state, the lifting frame 2 is located in the through groove 7 in the push plate 5, and the lifting frame 2 and the traveling seat 3 contract and are located on both sides of the vehicle body. At this time, it is not used for carrying goods, and the overall structure is in a relatively compact state, which is convenient for passing through the bottom of the vehicle body in the extended state.

[0013] When the automated guided vehicle changes from the extended state to the retracted state, first, the push plate 5 moves within the traveling seat 3, the lifting inclined plane 8 moves closer to the lifting frame 2, and the lifting frame 2 vertically moves downward within the guide groove 4 until it completely enters the through groove 7. After that, the push plate 5 continues to move, causing the limit lug 10 to move to the upper side position of the limit inclined plane 11, and the push plate 5 forms the upper limit of the lifting frame 2. At the same time, the piston rod of the lifting cylinder 9 extends downward, driving the vehicle body, the lifting frame 2, and the traveling seat 3 to move upward together. After the traveling wheels 6 are separated from the ground, the lifting frames 2 and the traveling seats 3 on both sides of the vehicle body move closer to the vehicle body to contract. After the contraction is in place, the piston rod of the lifting cylinder 9 retracts, and the traveling wheels 6 come into contact with the ground. At this time, it is a guided vehicle that can move in the retracted state.

[0014] When the automated guided vehicle changes from the retracted state to the extended state, first, the push plate 5 moves within the traveling seat 3, causing the limit lug 10 to move to the upper side position of the limit inclined plane 11, and the push plate 5 forms the upper limit of the lifting frame 2. After that, the piston rod of the lifting cylinder 9 extends downward, driving the vehicle body, the lifting frame 2, and the traveling seat 3 to move upward together, separating the traveling wheels 6 from the ground. The lifting frames 2 and the traveling seats 3 on both sides of the vehicle body move outward to the two sides of the vehicle body. After the extension is in place, the piston rod of the lifting cylinder 9 retracts, and the traveling wheels 6 come into contact with the ground. Subsequently, the push plate 5 moves in the reverse direction within the traveling seat 3, the lifting inclined plane 8 moves closer to the lifting frame 2, and the lifting frame 2 is driven by the lifting inclined plane 8 to vertically rise along the guide groove 4. When the lifting frame 2 is located at the top plane position above the lifting inclined plane 8, the lifting frame 2 is stably located above the push plate 5. At this time, it is a guided vehicle that can carry goods in the extended state. The lifting frame 2 still remains within the guide groove 4 of the traveling seat 3, which can form a relative limit between the lifting frame 2 and the traveling seat 3, realizing stable movement in the state of carrying goods. At the same time, the lifting frame 2 moves upward a certain height distance relative to the traveling seat 3, leaving sufficient clearance space at the bottom of the vehicle body.

[0015] When the guided vehicle travels from the loading point to the unloading point, it is in the extended state, and at this time, it can carry goods and travel normally. After the unloading is completed, the guided vehicle switches from the extended state to the retracted state, and at this time, it does not need to carry goods. When two groups of automated guided vehicles meet on the guide line, as Figure 17 shown, a guided vehicle in the extended state and a guided vehicle in the retracted state can achieve interference-free avoidance and travel under the guidance of the guide line. For the above-mentioned automated guided vehicle that can switch states, the delivery automated guided vehicle and the return automated guided vehicle can avoid and travel with each other on the same guide line, realizing the reciprocating travel of the automated guided vehicle, without the need to set up a circular loop line, and the delivery automated guided vehicle does not need to wait for the return automated guided vehicle to return to the starting point.

[0016] The lifting frame 2 of the above structure can fully enter the traveling seat 3, and the push plate 5 moves horizontally inside the traveling seat 3, thereby realizing the pushing and lifting of the lifting frame 2. The arrangement of this structure does not occupy the vertical height position of the vehicle body, so that the vehicle body can shrink to a smaller state during the form switching, facilitating the movement and avoidance of the vehicle body in the extended state.

[0017] Further, in order to accurately control the movement of the push plate 5 in the traveling seat 3, the vertical height position of the lifting frame 2 in the guide groove 4 is adjusted by the position of the lifting inclined surface 8. As Figure 11 shown, a first motor 12 can be installed at one end of the traveling seat 3 in the length direction. The output shaft of the first motor 12 extends into the traveling seat 3 and is connected to a lead screw 13. A through hole through which the lead screw 13 can pass is provided in the push plate 5, and a nut 14 cooperating with the lead screw 13 is installed in the through hole. The push plate 5 is limited in the traveling seat 3 accordingly. When the first motor 12 is started, it can drive the push plate 5 to move along the length direction of the traveling seat 3.

[0018] When the push plate 5 moves, it can drive the lifting frame 2 to vertically lift and lower in the guide groove 4. At the same time, the lifting frame 2 can also perform horizontal telescopic movement together with the traveling seat 3. It is necessary to ensure that the lifting frame 2 can vertically lift and lower relative to the traveling seat 3 and also ensure that the lifting frame 2 can move horizontally together with the traveling seat 3. To achieve the above actions, as Figure 12 shown, corresponding to the position of the guide groove 4, a vertically arranged guide cylinder 15 can be installed on the outer side surface of the traveling seat 3. A plurality of guide rods 16 capable of vertically lifting and lowering are installed in the guide cylinder 15 in a matching manner. A limit bolt 17 is installed at the top of the uppermost guide rod 16, and a guide plate 18 fixedly connected to the bottom of the limit bolt 17 is provided on the lifting frame 2.

[0019] The setting of the guide cylinder 15 and the plurality of guide rods 16 inside effectively improves the stability of the lifting frame 2 during lifting and lowering in the guide groove 4, preventing the lifting frame 2 from shifting during the lifting and lowering process. At the same time, through the fixed connection setting of the guide plate 18, the horizontal telescopic common movement between the lifting frame 2 and the traveling seat 3 can be realized synchronously.

[0020] In order to realize the telescopic movement of the lifting frame 2 relative to both sides of the vehicle body, guide sleeves 19 arranged horizontally can be installed on the vehicle body at the bottom of the tray 1. Telescopic connecting rods 20 are installed in the guide sleeves 19 in a matching manner, and the lifting frame 2 is installed at the end of the connecting rod 20.

[0021] To realize the movement of the connecting rod 20 in the guide sleeve 19, as Figure 13As shown in the figure, a rack 21 is installed on one side of the connecting rod 20. A first avoidance groove 22 through which the rack 21 can be exposed is formed on the guide sleeve 19. A second motor 23 is installed on the side of the guide sleeve 19. A gear 24 meshing with the rack 21 is installed on the output shaft of the second motor 23. Starting the second motor 23 can drive the connecting rod 20 and the lifting frame 2 to move horizontally and telescopically, thereby realizing the switching between the retracted and extended states of the guiding vehicle.

[0022] When the guiding vehicle switches between the retracted and extended states, it is necessary to lift the traveling wheels 6 at the bottom of the traveling seat 3 to separate from the ground before subsequent telescopic movement. During vertical lifting, it is necessary to move the limit convex block 10 on the push plate 5 to the upper side position of the limit inclined surface 11 so as to form vertical limitation between the lifting frame 2 and the traveling seat 3, and the lifting frame 2 will drive the traveling seat 3 to move vertically upward together.

[0023] In order to realize the linkage control between the movement of the push plate 5 and the extension of the piston rod in the lifting cylinder 9, that is, when the limit convex block 10 moves to the upper side position of the limit inclined surface 11, the piston rod of the lifting cylinder 9 will extend downward. As Figure 14 shown, an oil storage cavity 25 can be provided in the lifting frame 2. A piston valve core 26 is installed in the oil storage cavity 25 in a matching manner. Hydraulic oil is contained in the oil storage cavity 25 on one side of the piston valve core 26. The oil storage cavity 25 at this side position is connected to the oil circuit of the lifting cylinder 9 through a oil pipe 27. After the hydraulic oil in the oil storage cavity 25 enters the lifting cylinder 9, it can push the piston rod of the lifting cylinder 9 to extend downward.

[0024] A return spring 28 is also installed between the piston rod and the cylinder barrel of the lifting cylinder 9. The return spring 28 always has a tendency to retract the piston rod of the lifting cylinder 9 into the cylinder barrel, that is, always has a tendency to make the hydraulic oil flow back to the oil storage cavity 25. A pressure rod 29 passing through the oil storage cavity 25 is installed on the other side of the piston valve core 26. The pressure rod 29 is located at the lower side position of the limit inclined surface 11. A sealing ring is provided in the oil storage cavity 25 to prevent the leakage of internal hydraulic oil.

[0025] When the limit convex block 10 on the push plate 5 is located at the upper side position of the limit inclined surface 11, the side surface of the through groove 7 below the limit convex block 10 can push the pressure rod 29 to move, and at the same time push the piston valve core 26 and overcome the elastic force of the return spring 28 to squeeze the hydraulic oil in the oil storage cavity 25 into the oil circuit of the lifting cylinder 9, so that the piston rod of the lifting cylinder 9 extends downward.

[0026] With the above structure, there are three different position states between the lifting frame 2 and the push plate 5. The first is that the lifting frame 2 is located at the top position of the push plate 5, which is the extended load-carrying state; the second is that the lifting frame 2 completely enters the through groove 7 of the push plate 5, and the limit convex block 10 does not fit with the limit inclined surface 11, the pressure rod 29 is not pushed, the hydraulic oil is located in the oil storage cavity 25, and the piston rod of the lifting cylinder 9 does not extend downward. At this time, it isFigure 9 the state shown; thirdly, the lifting frame 2 completely enters into the through slot 7 of the push plate 5, and at the same time, the limit bump 10 fits with the limit inclined surface 11, and the pressure rod 29 is pushed by the side surface of the through slot 7, as Figure 10 shown, the hydraulic oil in the oil storage cavity 25 enters into the lifting cylinder 9, and the piston rod of the lifting cylinder 9 extends downward.

[0027] When the guiding vehicle is converted from the extended state to the contracted state, after the lifting frame 2 enters into the through slot 7, the limit bump 10 moves to fit with the limit inclined surface 11, and pushes the pressure rod 29 to move, sending the hydraulic oil into the lifting cylinder 9, so that the piston rod of the lifting cylinder 9 extends downward. At this time, the lifting frame 2 and the push plate 5 form a limit, the lifting frame 2 and the walking seat 3 move upward synchronously, the walking wheels 6 are separated from the ground, and the lifting frame 2 and the walking seat 3 can move together towards the vehicle body to approach and contract. After the contraction is in place, the push plate 5 moves in the reverse direction, so that the side surface of the through slot 7 no longer presses the pressure rod 29. At this time, under the action of the return spring 28 in the lifting cylinder 9, the hydraulic oil returns to the oil storage cavity 25, and at the same time, the piston rod of the lifting cylinder 9 contracts, and the walking wheels 6 at the bottom of the walking seat 3 fall to contact the ground, thereby realizing the free movement in the contracted state of the guiding vehicle.

[0028] When the guiding vehicle is converted from the contracted state to the extended state, the process is opposite to the above. First, the push plate 5 moves, so that the limit bump 10 moves to fit with the limit inclined surface 11, and at the same time, the through slot 7 pushes the pressure rod 29 to move, sending the hydraulic oil into the lifting cylinder 9, so that the piston rod of the lifting cylinder 9 extends downward. At this time, the lifting frame 2 and the push plate 5 form a limit, the lifting frame 2 and the walking seat 3 move upward synchronously, the walking wheels 6 are separated from the ground, and the lifting frame 2 and the walking seat 3 can move together away from the vehicle body to extend. After the extension is in place, the push plate 5 moves in the reverse direction, so that the side surface of the through slot 7 no longer presses the pressure rod 29. At this time, under the action of the return spring 28 in the lifting cylinder 9, the hydraulic oil returns to the oil storage cavity 25, and at the same time, the piston rod of the lifting cylinder 9 contracts, and the walking wheels 6 at the bottom of the walking seat 3 fall to contact the ground. Then the push plate 5 continues to move, and the lifting frame 2 is lifted to the top plane position of the push plate 5 through the lifting inclined surface 8, realizing the extended state in the form of a gantry.

[0029] In this way, the vertical lifting of the lifting frame 2 and the telescopic drive of the piston rod in the lifting cylinder 9 can be realized by the movement of the push plate 5. The first motor 12 can be used as a driving mechanism to output power to the two groups of structures, thereby simplifying the overall structure, reducing the manufacturing cost, and enabling the whole to be in a contracted state with a smaller volume.

[0030] During the above-mentioned state switching process, a proximity switch adapted thereto is installed on the automatic guided vehicle. By detecting the action positions of various components, a control signal is transmitted to the controller, and the next action signal is transmitted to the designated driving component through the controller, so as to complete the switching of the vehicle body between the extended and contracted states. Or an encoder is installed in each driving component to control the action distance of each component, so as to ensure that each component can act in sequence according to the order of state switching.

[0031] For example, a first proximity switch 37 is provided on the side of the lifting frame 2 at the lower position of the pressure lever 29 and can be triggered when the pressure lever 29 is squeezed; a second proximity switch 38 is provided on the connecting rod 20 inside the guide sleeve 19 and can be triggered and send a control signal after the connecting rod 20 extends in place; a third proximity switch 39 is provided on the top plane of the push plate 5 near one side of the lifting slope 8. There is still a certain space between the third proximity switch 39 and the top wall of the walking seat 3, and the third proximity switch 39 can only be activated by the bottom surface of the lifting frame 2 contacting it; a fourth proximity switch 40 is provided at one end of the lifting frame 2 close to the connecting rod 20 and can be triggered after the connecting rod 20 retracts in place. At the same time, an encoder is installed inside each motor to detect its own rotation direction and action distance.

[0032] When the automatic guided vehicle switches from the contracted state to the extended state, first, the first motor 12 is started to control the push plate 5 to move to the position where it squeezes the pressure lever 29, triggering the first proximity switch 37. At this time, the piston rod of the lifting cylinder 9 extends downward, and the first motor 12 stops rotating. At the same time, the first proximity switch 37 sends a control signal to the second motor 23 to make the connecting rod 20 drive the lifting frame 2 to extend outward. When the second proximity switch 38 is triggered after moving out of the guide sleeve 19, a control signal is sent to the second motor 23 and the first motor 12. The second motor 23 stops rotating, and the lifting frame 2 is extended in place at this time. The first motor 12 rotates in the reverse direction to drive the lifting slope 8 on the push plate 5 to move closer to the lifting frame 2. After the lifting frame 2 moves up to the top plane of the push plate 5 and triggers the third proximity switch 39, the third proximity switch 39 sends a control signal to the first motor 12 to make the first motor 12 stop rotating, and the vehicle switches to the extended state.

[0033] When the automated guided vehicle switches from the extended state to the retracted state, first, the first motor 12 starts to drive the push plate 5 to move, causing the lifting frame 2 to drop into the through groove 7 until the limit bump 10 is located above the limit inclined surface 11. At this time, the piston rod of the lifting cylinder 9 extends downward, the traveling wheels 6 are separated from the ground, the third proximity switch 39 is triggered and sends a control signal to the second motor 23 and the first motor 12. The first motor 12 stops rotating, and the second motor 23 starts to move the connecting rod 20 into the inside of the guide sleeve 19. During the movement, until the fourth proximity switch 40 is triggered, the fourth proximity switch 40 sends a control signal to the second motor 23 and the first motor 12. The second motor 23 stops rotating, the connecting rod 20 and the lifting frame 2 are retracted in place, the first motor 12 rotates in the reverse direction, so that the pressure rod 29 is no longer squeezed, and the third proximity switch 39 is no longer triggered. At this time, the piston rod of the lifting cylinder 9 retracts, the traveling wheels 6 fall to the ground, and the third proximity switch 39 after the triggering stops sends a control signal to the first motor 12 to stop the first motor 12 from rotating and switch to the retracted state.

[0034] During the reset movement of the return spring 28, there are two action processes. The first is that after the push plate 5 leaves the pressure rod 29 and before the hydraulic oil flows back into the oil storage cavity 25 and the traveling wheels 6 have not contacted the ground, at this time, the piston rod of the lifting cylinder 9 contacts the ground, and the overall weight of the trolley is applied to the cylinder barrel of the lifting cylinder 9, causing the piston rod to retract into the cylinder barrel. At this time, the return spring 28 plays an auxiliary role in returning, and there is no need to apply a large force to the piston rod to move it upward. After the traveling wheels 6 contact the ground, the upward movement force of the piston rod is completely provided by the return spring 28, and only the piston rod needs to enter the cylinder barrel so that the automated guided vehicle in the retracted state can pass through. During the whole process, the return spring 28 does not need to apply a large force to the piston rod, and the vertical movement and lifting of the piston rod in the lifting cylinder 9 can be realized.

[0035] Furthermore, in order to avoid interference between the pressure rod 29 on the lifting frame 2 and the traveling seat 3 during the upward movement of the lifting frame 2, a second avoidance groove 30 can be provided at the top of the traveling seat 3 corresponding to the position of the pressure rod 29, and the second avoidance groove 30 is communicated with the guide groove 4.

[0036] In order to avoid interference between the telescopic structure of the oil pipe 27 and the vehicle body during the switching process of the guiding vehicle between the contracted and extended states, a cable bracket 31 can be installed between the lifting frame 2 and the lifting cylinder 9 corresponding to each oil pipe 27. One end of the cable bracket 31 is fixed on the lifting frame 2, and a through slot 32 through which the cable bracket 31 can pass is provided on the vehicle body at the position of the lifting cylinder 9. The cable bracket 31 can perform synchronous vertical lifting and horizontal telescoping following the lifting frame 2, and due to the arrangement of the through slot 32, the cable bracket 31 will not interfere with other components on the guiding vehicle during the movement process. The oil pipe 27 is located at the upper position of the cable bracket 31. Whether the oil pipe 27 is in the contracted or extended state, the cable bracket 31 can play a corresponding supporting role to prevent the oil pipe 27 from falling to the ground and affecting the movement of the overall guiding vehicle.

[0037] Cameras 33 are installed at both the front and rear ends of the vehicle body in the traveling direction. A wireless communication module 34 and a guide wire sensor 35 are installed on the vehicle body. A scheduling controller 36 is installed within the traveling area of the automatic guided vehicle. The camera 33 can identify and photograph the guide wire at the position where the automatic guided vehicle is located, and transmit the position information of the automatic guided vehicle to the scheduling controller 36 via the wireless communication module 34. The guide wire sensor 35 can identify the guide wire and control the automatic guided vehicle to track along the guide wire.

[0038] The guide wire can be an existing magnetic strip pasted on the ground of the working area. The guide wire sensor 35 can be a magnetic sensor that can sense the position of the magnetic strip in real time to ensure that the vehicle body moves along the preset guide wire. The automatic guided vehicle realizes tracking by sensing the magnetic strip on the ground. In addition, it can be an automatic guiding device such as a laser. The vehicle body's external environment is monitored in real time through devices such as the camera 33 for identification and movement, ensuring that it travels along the planned path and realizes accurate movement between round-trip locations.

[0039] The traveling control of the automatic guided vehicle can also be the tracking navigation and self-positioning method described in the Chinese publicly authorized patent with the patent number "CN202110133713.5" - the AGV multi-spectrum color discrimination tracking navigation and color and shape positioning method based on vision recognition technology, so as to realize the tracking travel of the automatic guided vehicle.

[0040] When the camera 33 can identify the turning position of the guide wire, since the automatic guided vehicle needs to turn, interference may occur between two groups of automatic guided vehicles in the extended state and the contracted state. To avoid the above situation, it is necessary to let the two groups of automatic guided vehicles pass through in an orderly manner one after another. The process is as follows: When the automated guided vehicle carrying goods travels from the loading location to the unloading location and meets the empty automated guided vehicle returning from the unloading location to the loading location at the turning position of the guide line, the scheduling controller 36 controls the empty automated guided vehicle to stop walking. The automated guided vehicle carrying goods passes through the turning position first. After the automated guided vehicle carrying goods walks away from the turning position, the empty automated guided vehicle starts walking again and returns to the loading location. The above control method allows the automated guided vehicle carrying goods to pass through the turning position of the guide line preferentially without stopping, which will not affect the transportation progress of the goods. It can not only ensure the normal passage of the automated guided vehicle at the turning position of the guide line, but also guarantee the overall conveying efficiency of the goods. When at the straight position of the guide line, there is no need to consider the above walking sequence. The two groups of guided vehicles in the retracted state and the extended state can avoid and walk without interference and do not need to stop.

[0041] The scheduling controller 36 is connected to the controller in the automated guided vehicle through a wireless network to achieve the movement control and state switching of the automated guided vehicle. The control steps for avoiding and walking at the turning position can be described as follows: ① The automated guided vehicle in the load-extended state travels along the guide line from the loading location to the unloading location. The guide line is recognized by the cameras 33 at the front and rear ends of the vehicle body. When the camera 33 at the front end of the vehicle body walking direction captures and recognizes the guide line at the turning point, a signal A is sent to the scheduling controller 36, indicating that the automated guided vehicle carrying goods is about to enter the turning position at this time. When the camera 33 at the rear end of the vehicle body walking direction captures and recognizes the guide line at the turning point, a signal B is sent to the scheduling controller 36, indicating that the automated guided vehicle carrying goods has left the turning position at this time; ② The automated guided vehicle in the control-retracted state travels along the guide line from the unloading location to the loading location for return. The guide line is recognized by the camera 33 at the front end of the vehicle body walking direction. When the camera 33 at the front end of the vehicle body walking direction captures and recognizes the guide line at the turning point, a signal C is sent to the scheduling controller 36, indicating that the empty automated guided vehicle is about to enter the turning position at this time; ③ After receiving signal C, the scheduling controller 36 performs start-stop regulation according to the real-time position of the automatic guided vehicle on the guide wire, and the situations are as follows: When the scheduling controller 36 receives only signal C and signal A, it sends a control signal to the control automatic guided vehicle on the return journey to make it stop at the turning entrance position, and the automatic guided vehicle carrying goods normally passes through the turning position of the guided vehicle without stopping; When the scheduling controller 36 receives only signal C and signal B, it sends a control signal to the control automatic guided vehicle on the return journey to make it enter and pass through the turning position; When the scheduling controller 36 receives signal C, signal A and signal B, it sends a control signal to the control automatic guided vehicle on the return journey to make it stop at the turning entrance position, and first let the automatic guided vehicle carrying goods normally pass through the turning position of the guided vehicle without stopping; When the scheduling controller 36 receives only signal C, it sends a control signal to the control automatic guided vehicle on the return journey to make it enter and pass through the turning position.

[0042] The automatic guided vehicle described in the present invention also has the following advantages: The automatic guided vehicle as a whole forms a gantry frame structure. With the ingenious design of components such as the lifting frame 2, the traveling seat 3, and the push plate 5, the vehicle can quickly and stably adjust its own state when it needs to avoid. At the same time, the application of transmission mechanisms such as the lifting cylinder 9, the lead screw, and the rack ensures the accuracy and reliability of the vehicle's actions, and has the advantages of compact structure and ingenious design.

[0043] The setting of safety protection devices such as the limit bump 10 and the limit inclined surface 11 effectively prevents the accidental fall of the lifting frame 2 during the lifting process, ensuring the safety of the vehicle operation. In addition, the connection and transmission mechanism between each component is reasonably designed, easy to maintain, reducing the use cost, safe and reliable, and easy to maintain.

[0044] The automatic guided vehicle of the present invention is flexibly designed and can be expanded and customized according to actual needs. Whether it is to adjust the size and load capacity of the vehicle or add additional functional modules, it can be achieved through simple structural adjustments or component replacements, with high expandability and adaptability.

[0045] Combined with modern automation control technology, the automatic guided vehicle of the present invention can realize intelligent management functions such as remote monitoring, path planning, and task scheduling. This not only improves the operation efficiency and management level of the vehicle, but also provides strong support for the intelligent upgrade of enterprises, which is conducive to realizing intelligent management and improving the management level.

[0046] A transport automatic guided vehicle that reciprocates in a warehouse realizes the switching between the retracted state and the extended state through the horizontal telescoping and vertical lifting of the lifting frame 2 and the walking seat 3. On the guiding line, the automatic guided vehicle in the extended state and the automatic guided vehicle in the retracted state can perform interference-free avoidance and travel, reducing the waiting time caused by vehicle interference, making the cargo transportation process smoother, and significantly improving the overall transportation efficiency. At the same time, there is no need to additionally occupy ground space to set up a return line, saving site resources, reducing production costs, and the overall device shows significant advantages and positive effects in improving transportation efficiency, optimizing space utilization, reducing production costs, enhancing safety and reliability, improving scalability, and realizing intelligent management.

[0047] The technical solution of the present invention is not limited within the scope of the embodiments described in the present invention. The technical content not described in detail in the present invention is all well-known technology.

Claims

1. A transport automatic guided vehicle that reciprocates in a warehouse, characterized in that: The utility model comprises a vehicle body, a tray (1) is provided on the vehicle body, and a lifting frame (2) capable of horizontal extension and contraction is installed on both sides of the vehicle body. A walking seat (3) is provided on both sides of the vehicle body corresponding to the lifting frame (2) at the same side. A walking wheel (6) is provided at the bottom of the walking seat (3). A guide groove (4) matching with the lifting frame (2) is provided on the walking seat (3). A push plate (5) capable of moving along the length direction is also installed in the walking seat (3). When the push plate (5) moves, it can drive the lifting frame (2) to rise and fall vertically in the guide groove (4). A through groove (7) is provided on the push plate (5) for allowing the lifting frame (2) to fall into. A lifting inclined surface (8) is provided on one side of the through groove (7). The lifting inclined surface (8) When the lifting frame (2) is moved closer to the lifting frame (2), the lifting frame (2) can be pushed to rise vertically along the guide groove (4) until the lifting frame (2) is located at the top plane position of the push plate (5) on the upper part of the lifting inclined surface (8). The automatic guided vehicle as a whole forms a gantry frame structure. A lifting cylinder (9) is also installed at the bottom of the vehicle body. A limiting protrusion (10) is provided on the upper part of the side of the through groove (7) away from the lifting inclined surface (8). A limiting inclined surface (11) matching with the limiting protrusion (10) is provided on the lifting frame (2). When the limiting protrusion (10) is located at the upper side position of the limiting inclined surface (11), the piston rod of the lifting cylinder (9) extends downward, and the lifting frame (2) can drive the walking seat (3) to move upward together to separate the walking wheel (6) from the ground.

2. The transport automatic guided vehicle that reciprocates in a warehouse according to claim 1, characterized in that: A first motor (12) is installed at one end of the travel seat (3) in the length direction, the output shaft of the first motor (12) extends into the travel seat (3) and is connected to a screw rod (13), a through hole is opened in the push plate (5) for allowing the screw rod (13) to pass through, and a nut (14) matching with the screw rod (13) is installed in the through hole, and the first motor (12) can drive the push plate (5) to move along the length direction of the travel seat (3) when it is started.

3. The transport automatic guided vehicle that reciprocates in a warehouse according to claim 1, characterized in that: A vertically arranged guide cylinder (15) is installed on the outer side surface of the walking seat (3) at a position corresponding to the guide groove (4), and a plurality of guide rods (16) capable of vertical lifting are installed in the guide cylinder (15). A limit bolt (17) is installed on the top of the uppermost guide rod (16), and a guide plate (18) fixedly connected to the bottom of the limit bolt (17) is provided on the lifting frame (2).

4. The transport automatic guided vehicle that reciprocates in a warehouse according to claim 1, characterized in that: A horizontally arranged guide sleeve (19) is installed on the vehicle body at the bottom of the tray (1), a retractable connecting rod (20) is installed in the guide sleeve (19), and a lifting frame (2) is installed at the end of the connecting rod (20), wherein a rack (21) is installed on one side of the connecting rod (20), and a first avoidance groove (22) is provided on the guide sleeve (19) to allow the rack (21) to be exposed, and a second motor (23) is installed on the side of the guide sleeve (19), and a gear (24) meshing with the rack (21) is installed on the output shaft of the second motor (23), and the second motor (23) can drive the connecting rod (20) and the lifting frame (2) to move horizontally and retractably when the second motor (23) is started.

5. The transport automatic guided vehicle that reciprocates in a warehouse according to claim 1, characterized in that: The lifting frame (2) is provided with an oil storage chamber (25), in which a piston valve core (26) is installed. The oil storage chamber (25) on one side of the piston valve core (26) is filled with hydraulic oil. The oil storage chamber (25) on this side is connected to the oil circuit of the lifting cylinder (9) through an oil pipe (27). A return spring (28) is also installed between the piston rod and the cylinder barrel of the lifting cylinder (9). The return spring (28) always has a tendency to retract the piston rod of the lifting cylinder (9) into the cylinder barrel, and the piston A pressure rod (29) extending through the oil storage chamber (25) is installed on the other side of the valve core (26). The pressure rod (29) is located at the lower side of the limiting inclined surface (11). When the limiting protrusion (10) on the push plate (5) is located at the upper side of the limiting inclined surface (11), the push plate (5) pushes the pressure rod (29) and the piston valve core (26) and overcomes the elastic force of the return spring (28) to squeeze the hydraulic oil in the oil storage chamber (25) into the oil circuit of the lifting cylinder (9), so that the piston rod of the lifting cylinder (9) extends downward.

6. The transport automatic guided vehicle that reciprocates in a warehouse according to claim 5, characterized in that: Corresponding to the position of the pressure rod (29), a matching second avoidance groove (30) is provided on the top of the walking seat (3), and the second avoidance groove (30) is communicated with the guide groove (4).

7. The transport automatic guided vehicle that reciprocates in a warehouse according to claim 5, characterized in that: Corresponding to each oil pipe (27), a cable bracket (31) is installed between the lifting frame (2) and the lifting cylinder (9), wherein one end of the cable bracket (31) is fixed to the lifting frame (2), and a through groove (32) is provided on the vehicle body at the position of the lifting cylinder (9) to allow the cable bracket (31) to pass through, and the oil pipe (27) is located at the upper position of the cable bracket (31).

8. The transport automatic guided vehicle that reciprocates in a warehouse according to claim 1, characterized in that: Cameras (33) are installed at the front and rear ends of the vehicle body in the direction of travel, and a wireless communication module (34) and a guide line sensor (35) are installed on the vehicle body. A dispatching controller (36) is installed in the walking area of ​​the automatic guided vehicle, wherein the camera (33) can identify and photograph the guide line at the location of the automatic guided vehicle, and transmit the location information of the automatic guided vehicle to the dispatching controller (36) via the wireless communication module (34). The guide line sensor (35) can identify the guide line and control the automatic guided vehicle to follow the guide line. When the automatic guided vehicle carrying goods moves from the loading location to the unloading location and meets an empty automatic guided vehicle returning from the unloading location to the loading location at the turning position of the guide line, the dispatching controller (36) controls the empty automatic guided vehicle to stop moving, and the automatic guided vehicle carrying goods passes the turning position first. After the automatic guided vehicle carrying goods moves away from the turning position, the empty automatic guided vehicle starts moving again and returns to the loading location.

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