A transport automated guided vehicle reciprocating in a warehouse

Abstract

A kind of transport automatic guided vehicle reciprocates in warehouse, lifting frame and walking seat capable of horizontal expansion are equipped on the both sides of vehicle body, push plate capable of moving along length direction is installed in walking seat, push plate moves to drive lifting frame to carry out vertical lifting in guide groove in walking seat, and make automatic guided vehicle whole expansion form gantry frame structure, on guide line, automatic guided vehicle in expanded state and automatic guided vehicle in contracted state can avoid interference and travel, realize the reciprocating travel of automatic guided vehicle, this function greatly reduces the waiting time caused by trolley interference, makes the goods transport process more smooth, significantly improves the overall transport efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the AGV trolley technology field of conveying raw materials in a warehouse or workshop, in particular to a warehouse reciprocating transport automatic guided vehicle. BACKGROUND

[0002] The AGV trolley is also called an automatic guided vehicle, which is an industrial vehicle that loads goods by automatic or manual way, automatically travels according to the set route or drags the loading platform to the designated place, and then loads and unloads goods by automatic or manual way. The trolley can realize directional movement through the guide line arranged on the ground, and is widely used in the transfer and transportation of goods and workpieces in a logistics warehouse or workshop, such as frames, axles and other workpieces. In the working scene of a warehouse or workshop matching multiple unloading sites with one loading site, for example, unclassified various semi-finished workpieces, the corresponding workpieces need to be transported to the set storage site and wait for the next processing, and a guide line and several unloading sites need to be arranged on the ground of the warehouse or workshop. In order to improve the transportation efficiency of goods, multiple AGV trolleys are needed, but multiple trolleys will interfere with each other on the guide line during the delivery and return walking process. The delivery trolley needs to wait for the return trolley to return to the starting point before it can start, and multiple AGV trolleys will block each other when working together, resulting in a decrease in raw material transportation efficiency. In order to solve the walking interference problem, an additional return line is usually set between the unloading site and the loading site to form a circular loop line, but this not only prolongs the walking route of the trolley, but also occupies additional ground space in the warehouse or workshop, reduces the space utilization rate of the warehouse or workshop, and greatly increases the production cost. SUMMARY

[0003] The present application aims to provide a warehouse reciprocating transport automatic guided vehicle, which can make the delivery automatic guided vehicle and the return automatic guided vehicle avoid each other on the same guide line by switching the contraction or expansion state of itself, realize the reciprocating walking of the automatic guided vehicle, and solve the problems in the prior art.

[0004] The application solves the technical problems by the technical scheme that a transport automatic guided vehicle reciprocating in a warehouse, comprising a vehicle body, a pallet arranged on the vehicle body, lifting frames horizontally extendable and arranged on both sides of the vehicle body, walking seats arranged on both sides of the vehicle body corresponding to the same side position of the lifting frames, walking wheels arranged on the bottom of the walking seats, guide grooves arranged on the walking seats corresponding to the lifting frames, push plates horizontally movable in the walking seats, the push plates being able to drive the lifting frames to vertically ascend and descend in the guide grooves, through grooves arranged on the push plates and allowing the lifting frames to fall in, lifting slopes arranged on one side of the through grooves and able to push the lifting frames to vertically ascend along the guide grooves when the lifting slopes move close to the lifting frames, until the lifting frames are located at the top of the push plates, the automatic guided vehicle forming a gantry frame structure, lifting cylinders arranged on the bottom of the vehicle body, limit protrusions arranged on the upper side of the through grooves away from the lifting slopes, limit slopes arranged on the lifting frames corresponding to the limit protrusions, the limit protrusions being located at the upper side of the limit slopes, the piston rods of the lifting cylinders extending downward, and the lifting frames being able to drive the walking seats to move upward to separate the walking wheels from the ground.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 on the lifting frame, a through slot is formed on the vehicle body at the position of the lifting cylinder, the oil pipe is located at the upper position of the cable bracket. The front and rear ends of the vehicle body in the running direction are provided with cameras, a wireless communication module and a guide wire sensor are installed on the vehicle body, a dispatch controller is installed in the automatic guided vehicle running area, wherein the camera can identify and shoot the guide wire at the position of the automatic guided vehicle, and the position information of the automatic guided vehicle is transmitted to the dispatch controller through the wireless communication module, the guide wire sensor can identify the guide wire and control the automatic guided vehicle to follow the guide wire and walk, when the automatic guided vehicle carrying goods walks 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 dispatch controller controls the empty automatic guided vehicle to stop walking, the automatic guided vehicle carrying goods passes through the turning position first, and then the empty automatic guided vehicle starts walking and returns to the loading location after the automatic guided vehicle carrying goods walks away from the turning position.

[0005] The positive effect of the present application is that the automatic guided vehicle for transporting in the warehouse reciprocates, lifting frames and walking seats capable of horizontal expansion are arranged on both sides of the vehicle body, a push plate capable of moving in the length direction is installed in the walking seat, the push plate can drive the lifting frame to vertically ascend and descend in the guide groove in the walking seat when the push plate moves, and the automatic guided vehicle as a whole expands to form a gantry frame structure, on the guide wire, the automatic guided vehicle in the expanded state can avoid the automatic guided vehicle in the contracted state without interference, realizing the reciprocating walking of the automatic guided vehicle, which greatly reduces the waiting time caused by the interference of the trolley, makes the goods transportation process more smooth, and significantly improves the overall transportation efficiency. Compared with the traditional multi-group ring line arrangement mode which needs to set an additional return line, the automatic guided vehicle of the present application can avoid interference by switching between the contracted and expanded states, without occupying additional ground space, which not only saves valuable site resources, but also greatly reduces the production cost caused by setting an additional line. BRIEF DESCRIPTION OF DRAWINGS

[0006] Figure 1 is a structural schematic diagram of the present application;

[0007] Figure 2 is a front view of the present application;

[0008] Figure 3 is a state diagram of the lifting frame in the expanded state entering the through slot in the push plate and the piston rod of the lifting cylinder extending downward;

[0009] Figure 4 is a state diagram of the lifting frame in the contracted state entering the through slot in the push plate and the piston rod of the lifting cylinder being retracted;

[0010] Figure 5 is Figure 2 a top view of the state shown;

[0011] Figure 6 is Figure 2 a right view of the state shown;

[0012] Figure 7 is Figure 1 a structure schematic diagram of the push plate arranged in the walking seat in the state of walking;

[0013] Figure 8 is a structure schematic diagram of the push plate;

[0014] Figure 9 is Figure 4 a state schematic diagram of the lifting frame falling into the through slot in the push plate in the state of lifting;

[0015] Figure 10 is Figure 2 a state schematic diagram of the limiting block being located on the upper side of the limiting inclined surface and the piston rod of the lifting cylinder extending downward in the state of lifting;

[0016] Figure 11 is Figure 2 a sectional view of the screw and the screw nut arranged between the walking seat and the push plate in the state of walking;

[0017] Figure 12 is Figure 5 an enlarged view of the A-A direction sectional view;

[0018] Figure 13 is Figure 2 an enlarged view of the B-B direction sectional view;

[0019] Figure 14 is a structure schematic diagram of the lifting frame in which an oil storage cavity is arranged;

[0020] Figure 15 is a schematic diagram of the present application in the state of contraction, i.e. Figure 4 the state of walking;

[0021] Figure 16 is a walking schematic diagram of a plurality of automatic guided vehicles on a guide line;

[0022] Figure 17 is a state schematic diagram of the automatic guided vehicle in the state of contraction and the automatic guided vehicle in the state of expansion avoiding each other on the guide line. DETAILED DESCRIPTION

[0023] The automatic guided vehicle for transporting in the warehouse in the present application is like Figures 1-6As shown, including the vehicle body, on the vehicle body is provided with tray 1, tray 1 is used to hold goods, both sides of the vehicle body are mounted with horizontal telescopic lifting frame 2, corresponding to the same side position lifting frame 2, on both sides of the vehicle body is also provided with walking seat 3, the bottom of walking seat 3 is provided with walking wheel 6. Among them, the walking wheel 6 can be a tire with a wheel hub motor or a wheel edge motor, which can provide driving force for the movement of the vehicle body, the lifting frame 2 and the walking seat 3 can be synchronized to retract or expand to realize the switching of the vehicle body state, the lifting frame 2 can be vertically lifted relative to the walking seat 3 to lift the space at the bottom of the vehicle body, ensuring that the bottom of the expanded vehicle body can smoothly pass through the automatic guided vehicle in the retracted state.

[0024] In order to realize the directional vertical movement of the lifting frame 2 on the walking seat 3, the walking seat 3 is provided with a guide groove 4 matched with the lifting frame 2, and a push plate 5 capable of moving along the length direction is also matched and installed in the walking seat 3. When the push plate 5 moves, it can drive the lifting frame 2 to vertically lift in the guide groove 4.

[0025] In order to realize the vertical lifting drive of the lifting frame 2 when the push plate 5 moves, as shown in Figure 7 and Figure 8 Among them, the push plate 5 is provided with a through slot 7 for allowing the lifting frame 2 to fall into, one side of the through slot 7 is provided with a lifting inclined surface 8, when the lifting inclined surface 8 moves close 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 of the push plate 5 at the upper part of the lifting inclined surface 8, at this time, the lifting frame 2 is in the stable state as shown in Figure 1 The automatic guided vehicle as a whole forms a gantry frame structure, is in the expanded state, can leave the space at the bottom of the vehicle body, and the guided vehicle in the retracted state can pass through the space at the bottom of the vehicle body in the expanded state, so as to realize the mutual avoidance on the guide line.

[0026] In the process of transverse retraction or expansion of the lifting frame 2 and the walking seat 3, in order to avoid the mutual friction between the walking wheel 6 at the bottom of the walking 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 allow the lifting frame 2 to drive the walking seat 3 to vertically move upward, away from the side of the lifting inclined surface 8, the upper part of the side of the through slot 7 is provided with a limiting protrusion 10, and the lifting frame 2 is provided with a limiting inclined surface 11 matched with the limiting protrusion 10.

[0027] When the limiting protrusion 10 completely enters the through slot 7, the push plate 5 moves to allow the limiting protrusion 10 to be located at the upper side 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, the piston rod of the lifting cylinder 9 extends downward, and the lifting frame 2 can drive the walking seat 3 to move upward to separate the walking wheel 6 from the ground.

[0028] When the automatic guided vehicle is in the normal state of carrying goods, in order to Figure 1The expanded state shown, when it is necessary to walk on the public guide line for avoidance, then Figure 15 The expanded state shown, when it is necessary to walk on the public guide line for avoidance, then

[0029] When the automatic guide vehicle changes from the expanded state to the contracted state, first, the push plate 5 moves in the walking seat 3, the lifting slope 8 moves close to the lifting frame 2, the lifting frame 2 vertically moves down in the guide groove 4 until it completely enters the through groove 7, then the push plate 5 continues to move, the limiting block 10 moves to the upper side of the limiting slope 11, the push plate 5 forms the upper limiting of the lifting frame 2, at the same time, the piston rod of the lifting cylinder 9 extends downward, drives the vehicle body, the lifting frame 2 and the walking seat 3 to move upward together, after the walking wheel 6 is separated from the ground, the lifting frame 2 and the walking seat 3 on both sides of the vehicle body move close to the vehicle body and contract, after contracting, the piston rod of the lifting cylinder 9 retracts, the walking wheel 6 contacts the ground, at this time, it is the guide vehicle in the contracted state that can move.

[0030] When the automatic guide vehicle changes from the contracted state to the expanded state, first, the push plate 5 moves in the walking seat 3, the limiting block 10 moves to the upper side of the limiting slope 11, the push plate 5 forms the upper limiting of the lifting frame 2, then the piston rod of the lifting cylinder 9 extends downward, drives the vehicle body, the lifting frame 2 and the walking seat 3 to move upward together, the walking wheel 6 is separated from the ground, the lifting frame 2 and the walking seat 3 on both sides of the vehicle body move outward to both sides of the vehicle body, after expanding, the piston rod of the lifting cylinder 9 retracts, the walking wheel 6 contacts the ground, then the push plate 5 reversely moves in the walking seat 3, the lifting slope 8 moves close to the lifting frame 2, the lifting frame 2 is driven by the lifting slope 8 to vertically move upward along the guide groove 4, when the lifting frame 2 is located at the top plane position on the upper part of the lifting slope 8, the lifting frame 2 is stably located at the upper part of the push plate 5, at this time, it is the guide vehicle in the expanded state that can carry goods. The lifting frame 2 is still located in the guide groove 4 of the walking seat 3, can form the relative limiting between the lifting frame 2 and the walking seat 3, realize the stable movement in the state of carrying goods, at the same time, the lifting frame 2 moves upward by a certain height distance relative to the walking seat 3, leaves sufficient avoidance space at the bottom of the vehicle body.

[0031] When the guide vehicle walks from the loading point to the unloading point, it is in the expanded state, at this time, normal carrying and walking can be carried out, after unloading is completed, the guide vehicle switches from the expanded state to the contracted state, at this time, it does not need to carry goods. When two groups of automatic guide vehicles meet on the guide line, as shown inFigure 17 As shown, a set of expansion states and a set of contraction states of the guided vehicle can realize interference-free avoidance travel under the guidance of the guide line. The above-mentioned automatic guided vehicle capable of state switching, the delivery automatic guided vehicle and the return automatic guided vehicle can avoid each other on the same guide line, realize the reciprocating walking of the automatic guided vehicle, and do not need to set a ring-shaped circulating line, and the delivery automatic guided vehicle does not need to wait for the return automatic guided vehicle to return to the starting point.

[0032] The arrangement of the above-mentioned structure can completely enter the walking seat 3, and the push plate 5 moves horizontally in the inside of the walking seat 3, thereby realizing the pushing and lifting of the lifting frame 2. The arrangement of the structure does not occupy the vertical height position of the vehicle body, thereby enabling the vehicle body to be contracted to a smaller state when switching the mode, so as to realize the movement avoidance of the vehicle body in the expanded state.

[0033] Further, in order to realize the precise movement control of the push plate 5 in the walking seat 3, the vertical height position of the lifting frame 2 in the guide groove 4 is adjusted by the position of the lifting slope 8, as shown. Figure 11 As shown, one end of the length direction of the walking seat 3 can be provided with a first motor 12, the output shaft of the first motor 12 extends into the walking seat 3 and is connected with a lead screw 13, a through hole through which the lead screw 13 passes is formed in the push plate 5, and a nut 14 matched with the lead screw 13 is mounted in the through hole. The push plate 5 is limited in the walking seat 3, and the first motor 12 can drive the push plate 5 to move along the length direction of the walking seat 3.

[0034] When the push plate 5 moves, the lifting frame 2 can be vertically lifted in the guide groove 4, and the lifting frame 2 can also be horizontally moved together with the walking seat 3. The lifting frame 2 can be vertically lifted relative to the walking seat 3, and the lifting frame 2 can also be horizontally moved together with the walking seat 3. In order to realize the above-mentioned actions, as shown. Figure 12 As shown, a vertical guide cylinder 15 can be mounted on the outer side of the walking seat 3 corresponding to the position of the guide groove 4, and a plurality of guide rods 16 capable of vertical lifting are matched and mounted in the guide cylinder 15. A limiting bolt 17 is mounted on the top of the uppermost guide rod 16, and a guide plate 18 fixedly connected with the bottom of the limiting bolt 17 is arranged on the lifting frame 2.

[0035] The guide cylinder 15 and the plurality of guide rods 16 arranged in the guide cylinder 15 effectively improve the stability of the lifting frame 2 in the guide groove 4, prevent the lifting frame 2 from deviating during lifting, and also realize the horizontal expansion and contraction movement of the lifting frame 2 and the walking seat 3 through the fixed connection of the guide plate 18.

[0036] To achieve the telescopic movement of the lifting frame 2 relative to both sides of the vehicle body, a horizontally arranged guide sleeve 19 can be installed on the vehicle body at the bottom of the tray 1. A telescopic connecting rod 20 is fitted inside the guide sleeve 19, and the lifting frame 2 is installed at the end of the connecting rod 20.

[0037] To enable the movement of the connecting rod 20 within the guide sleeve 19, as Figure 13 shown, a rack 21 is installed on one side of the connecting rod 20. A first relief groove 22 is provided on the guide sleeve 19 to expose the rack 21. 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. Starting the second motor 23 can drive the connecting rod 20 and the lifting frame 2 to perform horizontal telescopic movement, thereby realizing the switching between the retracted or extended states of the guiding vehicle.

[0038] 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 them from the ground before performing subsequent telescopic movement. During vertical lifting, it is necessary to move the limit protrusion 10 on the push plate ⑤ to the upper side of the limit inclined surface 11 so as to form a vertical limit between the lifting frame 2 and the traveling seat 3, and the lifting frame 2 will then带动 the traveling seat 3 to move vertically upward together.

[0039] To achieve 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 protrusion 10 moves to the upper side 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 inside the lifting frame 2. A piston valve core 26 is fitted in the oil storage cavity 25. 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. When 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.

[0040] 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 let the hydraulic oil flow back into 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 on the lower side of the limit inclined surface 11, and a sealing ring is provided in the oil storage cavity 25 to prevent the leakage of internal hydraulic oil.

[0041] When the limit protrusion 10 on the push plate 5 is located on the upper side of the limit inclined surface 11, the side surface of the through groove 7 below the limit protrusion 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, causing the piston rod of the lifting cylinder 9 to extend downward.

[0042] The structure above is provided, so that there are three different position states between the lifting frame 2 and the push plate 5. One is that the lifting frame 2 is located at the top position of the push plate 5, which is the extended state of the load; the second is that the lifting frame 2 completely enters the through slot 7 of the push plate 5, and the limiting protrusion 10 is not in contact with the limiting inclined surface 11, the compression rod 29 is not pushed, the hydraulic oil is in the oil storage cavity 25, and the piston rod of the lifting cylinder 9 is not extended downward, which is the state shown in FIG. 6; the third is that the lifting frame 2 completely enters the through slot 7 of the push plate 5, and the limiting protrusion 10 is in contact with the limiting inclined surface 11, the compression rod 29 is pushed by the side of the through slot 7, as shown in FIG. 7, the hydraulic oil in the oil storage cavity 25 enters the lifting cylinder 9, and the piston rod of the lifting cylinder 9 extends downward. Figure 9 Figure 10

[0043] When the guide vehicle is converted from the extended state to the retracted state, after the lifting frame 2 enters the through slot 7, the limiting protrusion 10 moves to be in contact with the limiting inclined surface 11 and pushes the compression rod 29 to move, so that the hydraulic oil is sent into the lifting cylinder 9, the piston rod of the lifting cylinder 9 extends downward, at this time the lifting frame 2 is limited with the push plate 5, the lifting frame 2 and the walking seat 3 move upward synchronously, the walking wheel 6 is separated from the ground, and the lifting frame 2 and the walking seat 3 can move together to the vehicle body to retract. After retraction, the push plate 5 moves reversely, so that the side of the through slot 7 no longer presses the compression rod 29, at this time the hydraulic oil returns to the oil storage cavity 25 under the action of the return spring 28 in the lifting cylinder 9, and the piston rod of the lifting cylinder 9 retracts. The walking wheel 6 at the bottom of the walking seat 3 falls and contacts the ground, thereby realizing free movement of the guide vehicle in the retracted state.

[0044] When the guide vehicle is converted from the retracted state to the extended state, the process is opposite to the above process. First, the push plate 5 moves, so that the limiting protrusion 10 moves to be in contact with the limiting inclined surface 11, and the through slot 7 pushes the compression rod 29 to move, so that the hydraulic oil is sent into the lifting cylinder 9, the piston rod of the lifting cylinder 9 extends downward, at this time the lifting frame 2 is limited with the push plate 5, the lifting frame 2 and the walking seat 3 move upward synchronously, the walking wheel 6 is separated from the ground, and the lifting frame 2 and the walking seat 3 can move together to the vehicle body to retract. After retraction, the push plate 5 moves reversely, so that the side of the through slot 7 no longer presses the compression rod 29, at this time the hydraulic oil returns to the oil storage cavity 25 under the action of the return spring 28 in the lifting cylinder 9, and the piston rod of the lifting cylinder 9 retracts. The walking wheel 6 at the bottom of the walking seat 3 falls and contacts the ground, thereby realizing free movement of the guide vehicle in the retracted state.

[0045] ​​In this way, the vertical lifting of the lifting frame 2 can be achieved by the movement of the push plate 5, and the extension and retraction of the piston rod in the lifting cylinder 9 can be driven, and the power output of the two groups of structures can be achieved by the first motor 12 as a driving mechanism, so that the overall structure can be simplified, the manufacturing cost can be reduced, and the overall size can be reduced.

[0046] In the above-mentioned switching process, a proximity switch matched therewith is installed on the automatic guided vehicle, the action position of each component is detected, a control signal is transmitted to the controller, and the next action signal is transmitted to the specified driving component through the controller, so that the switching of the vehicle body between the expanded and contracted states is completed. Or, an encoder is installed in each driving component, the action distance of each component can be controlled, and it is ensured that each component can act in sequence according to the sequence of state switching.

[0047] For example, a first proximity switch 37 is arranged on the side surface of the lifting frame 2 at the lower position of the pressing rod 29, which can be triggered when the pressing rod 29 is pressed; a second proximity switch 38 is arranged on the connecting rod 20 inside the guide sleeve 19, which can be triggered and send a control signal when the connecting rod 20 is extended to the position; a third proximity switch 39 is arranged on the top surface of the push plate 5 near one side of the lifting inclined surface 8, the third proximity switch 39 is spaced apart from the top wall of the walking seat 3 by a certain distance, and the third proximity switch 39 can only be started by the bottom surface of the lifting frame 2; a fourth proximity switch 40 is arranged on one end of the lifting frame 2 close to the connecting rod 20, which can be triggered when the connecting rod 20 is retracted to the position. At the same time, an encoder is installed in each motor, which can detect the rotation direction and action distance of itself.

[0048] When the automatic guided vehicle is switched from the contracted state to the expanded state, first, the first motor 12 starts to control the push plate 5 to move to the position of pressing the pressing rod 29, and then the first proximity switch 37 is triggered, at this time the piston rod of the lifting cylinder 9 is extended downward, the first motor 12 stops rotating, and at the same time the first proximity switch 37 sends a control signal to the second motor 23 to drive the connecting rod 20 to extend the lifting frame 2 outward, when the second proximity switch 38 is triggered by 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, the lifting frame 2 is expanded to the position, and the first motor 12 reverses to drive the lifting inclined surface 8 on the push plate 5 to move close to the lifting frame 2, when the lifting frame 2 moves to the top surface 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 stop rotating, and the switching to the expanded state is completed.

[0049] When the automatic guided vehicle is switched from the extended state to the contracted state, first, the first motor 12 starts to drive the push plate 5 to move, and the lifting frame 2 falls into the through groove 7 until the limiting protrusion 10 is located on the upper side of the limiting inclined surface 11. At this time, the piston rod of the lifting cylinder 9 extends downward, the walking wheel 6 is 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, the second motor 23 starts to move the connecting rod 20 into the guide sleeve 19, and in the moving process 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 contracted in place, the first motor 12 reverses to rotate, the pressing rod 29 is no longer pressed, the third proximity switch 39 is no longer triggered, at this time the piston rod of the lifting cylinder 9 retracts, the walking wheel 6 falls to the ground, the third proximity switch 39 after stopping triggering sends a control signal to the first motor 12, and the first motor 12 stops rotating to switch to the contracted state.

[0050] Among them, the return spring 28 has two action processes in the process of resetting movement. One is that after the push plate 5 leaves the pressing rod 29, the hydraulic oil flows back to the oil storage cavity 25, and before the walking wheel 6 contacts 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, so that the piston rod retracts into the cylinder barrel. At this time, the return spring 28 plays an auxiliary return role, and it is not necessary to apply a large force to the piston rod to move it upward. After the walking wheel 6 contacts the ground, the upward 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 automatic guided vehicle in the contracted state can pass. In the whole process, the return spring 28 does not need to apply a large force to the piston rod, and the vertical movement of the piston rod in the lifting cylinder 9 can be realized.

[0051] Further, in order to avoid interference between the pressing rod 29 on the lifting frame 2 and the walking seat 3 during upward movement, a second avoiding groove 30 corresponding to the position of the pressing rod 29 can be opened at the top of the walking seat 3. The second avoiding groove 30 is in communication with the guide groove 4.

[0052] In order to avoid the interference between the structure of the telescopic oil pipe 27 and the vehicle body during the switching process between the contracted and expanded 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, a through slot 32 is formed on the vehicle body at the position of the lifting cylinder 9, the cable bracket 31 can be synchronously vertically lifted and laterally telescoped with 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 guide vehicle during movement. The oil pipe 27 is located at the upper position of the cable bracket 31, and no matter the oil pipe 27 is in the contracted or expanded 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 overall guide vehicle.

[0053] The front and rear ends of the vehicle body in the direction of travel are provided with a camera 33, a wireless communication module 34 and a guide line sensor 35 are installed on the vehicle body, and a dispatch controller 36 is installed in the automatic guide vehicle travel area, wherein the camera 33 can identify and shoot the guide line at the position of the automatic guide vehicle, and the position information of the automatic guide vehicle is transmitted to the dispatch controller 36 through the wireless communication module 34, and the guide line sensor 35 can identify the guide line and control the automatic guide vehicle to follow the guide line and walk.

[0054] The guide line can be a magnetic stripe that is currently available and is attached to the ground in the working area, and the guide line sensor 35 can be a magnetic force sensor that can sense the position of the magnetic stripe in real time to ensure that the vehicle body moves along the preset guide line. The automatic guide vehicle realizes tracking walking by sensing the magnetic stripe on the ground. In addition, it can be an automatic guide device such as laser, which can identify and walk by monitoring the environment outside the vehicle body in real time through the camera 33 and other devices to ensure that it travels along the planned path and realizes accurate movement between the two places.

[0055] The walking control of the automatic guide vehicle can also be the tracking navigation and self-positioning method described in the Chinese public authorized patent "CN202110133713.5" - AGV multi-spectrum color tracking navigation and shape-color positioning method based on visual recognition technology, so as to realize the tracking walking of the automatic guide vehicle.

[0056] The camera 33 can identify the turning position of the guide line. Since the automatic guide vehicle needs to turn, the two groups of automatic guide vehicles in the expanded and contracted states will interfere with each other. In order to avoid the above situation, the two groups of automatic guide vehicles need to pass through in order, and the process is as follows:

[0057] When the AGV carrying goods meets the empty AGV at the turning position of the guide line, the dispatch controller 36 controls the empty AGV to stop running, and the AGV carrying goods passes the turning position first. After the AGV carrying goods runs away from the turning position, the empty AGV starts running and returns to the loading position. The above control method allows the AGV carrying goods to pass the turning position of the guide line first without stopping, which does not affect the transportation progress of the goods, ensures the normal passing of the AGV at the turning position of the guide line, and guarantees the overall transportation efficiency of the goods. At the straight position of the guide line, the two groups of AGVs in the contracted state and the expanded state can avoid each other without interference and do not need to stop.

[0058] The dispatch controller 36 is connected to the controller in the AGV through a wireless network to realize the movement control and state switching of the AGV. The control steps of avoiding running at the turning position can be as follows:

[0059] ① The AGV in the expanded state carrying goods runs along the guide line from the loading position to the unloading position. The front and rear cameras 33 of the vehicle body recognize the guide line. When the front camera 33 in the running direction of the vehicle body recognizes the guide line at the turning position, a signal A is sent to the dispatch controller 36, indicating that the AGV carrying goods is about to enter the turning position. When the rear camera 33 in the running direction of the vehicle body recognizes the guide line at the turning position, a signal B is sent to the dispatch controller 36, indicating that the AGV carrying goods has left the turning position.

[0060] ② The AGV in the contracted state runs along the guide line from the unloading position to the loading position. The front camera 33 in the running direction of the vehicle body recognizes the guide line. When the front camera 33 in the running direction of the vehicle body recognizes the guide line at the turning position, a signal C is sent to the dispatch controller 36, indicating that the empty AGV is about to enter the turning position.

[0061] ③ After receiving signal C, the dispatch controller 36 adjusts the start and stop according to the real-time position of the automated guided vehicle (AGV) on the guide line, as follows: When the dispatch controller 36 receives only signals C and A, it sends a control signal to the returning AGV, causing it to stop at the corner entrance. The AGV carrying goods passes through the corner without stopping the machine. When the dispatch controller 36 receives only signals C and B, it sends a control signal to the returning AGV, causing it to enter the corner and pass through. When the dispatch controller 36 receives only signals C, A, and B, it sends a control signal to the returning AGV, causing it to stop at the corner entrance. The AGV carrying goods passes through the corner without stopping the machine. When the dispatch controller 36 receives only signal C, it sends a control signal to the returning AGV, causing it to enter the corner and pass through.

[0062] The automated guided vehicle described in this invention also has the following advantages:

[0063] The automated guided vehicle (AGV) forms a gantry frame structure, and the ingenious design of components such as the lifting frame 2, the traveling seat 3, and the push plate 5 allows the vehicle to quickly and stably adjust its position when it needs to avoid obstacles. Meanwhile, the application of transmission mechanisms such as the lifting cylinder 9, lead screw, and rack and pinion ensures the accuracy and reliability of the vehicle's movements, offering the advantages of a compact structure and ingenious design.

[0064] The installation of safety protection devices such as the limiting protrusion 10 and the limiting inclined surface 11 effectively prevents the lifting frame 2 from falling accidentally during the lifting process, ensuring the safety of the trolley operation. In addition, the connection and transmission mechanism between various components are reasonably designed, easy to maintain, reduce the cost of use, and are safe, reliable, and easy to maintain.

[0065] The automated guided vehicle of this invention features a flexible design that can be expanded and customized to meet specific needs. Whether adjusting the vehicle's size, load capacity, or adding additional functional modules, these adjustments can be achieved through simple structural modifications or component replacements, demonstrating high scalability and adaptability.

[0066] By incorporating modern automation control technology, the automated guided vehicle (AGV) of this invention can achieve intelligent management functions such as remote monitoring, path planning, and task scheduling. This not only improves the vehicle's operating efficiency and management level but also provides strong support for enterprises' intelligent upgrades, facilitating intelligent management and enhancing overall management capabilities.

[0067] The transport automatic guide vehicle which reciprocates in the warehouse realizes switching between the contraction state and the expansion state through horizontal extension and vertical lifting of the lifting frame 2 and the walking seat 3. On the guide line, the automatic guide vehicle in the expansion state and the automatic guide vehicle in the contraction state can avoid each other without interference, reduces the waiting time caused by the interference of the trolley, makes the goods transportation process more smooth, and significantly improves the overall transportation efficiency. At the same time, without occupying additional ground space to set the return line, the site resources are saved, the production cost is reduced, and the overall device shows significant advantages and positive effects in improving the transportation efficiency, optimizing the space utilization, reducing the production cost, enhancing the safety and reliability, improving the expansibility and realizing the intelligent management.

[0068] The technical scheme of the present application is not limited to the scope of the embodiments described in the present application. The technical content not described in detail in the present application is a known technology.

Claims

1. A transport automated guided vehicle that moves back and forth in a warehouse, characterized by: The utility model provides a kind of automatic guided vehicle, including car body, is equipped with tray (1) on car body, the lifting frame (2) of being able to horizontally extend is mounted on both sides of car body, corresponding to the lifting frame (2) of same side position, walking seat (3) is further equipped on both sides of car body, the bottom of walking seat (3) is equipped with walking wheel (6), the guide groove (4) that is matched with lifting frame (2) is opened in walking seat (3), the push plate (5) that can move along length direction is further matched and installed in walking seat (3), push plate (5) moves when can drive lifting frame (2) in guide groove (4) vertical lifting, wherein push plate (5) is opened with the through slot (7) that can let lifting frame (2) fall into, one side of through slot (7) is equipped with lifting inclined plane (8), lifting inclined plane (8) moves close to lifting frame (2) when can promote lifting frame (2) along guide groove (4) vertical ascending, until lifting frame (2) is located in the push plate (5) top plane position of lifting inclined plane (8) upper portion, automatic guided vehicle overall forms gantry frame structure, lifting cylinder (9) is further installed on the bottom of car body, the upper portion of the side of through slot (7) away from lifting inclined plane (8) side is equipped with limiting lug (10), lifting frame (2) is equipped with the limiting inclined plane (11) that is matched with limiting lug (10), when limiting lug (10) is located in the upper side position of limiting inclined plane (11), the piston rod of lifting cylinder (9) is stretched downward, lifting frame (2) can drive walking seat (3) to move up together to let walking wheel (6) separate from ground.

2. The transport AGV that reciprocates in a warehouse according to claim 1, characterized in that: The one end of length direction of walking seat (3) is equipped with first motor (12), the output shaft of first motor (12) is stretched into walking seat (3) and is connected with screw rod (13), the through hole that can let screw rod (13) pass out is opened in push plate (5), the nut (14) that is matched with screw rod (13) is installed in through hole, first motor (12) starts and can drive push plate (5) to move along the length direction of walking seat (3).

3. The transport AGV that reciprocates in a warehouse according to claim 1, characterized in that: Corresponding to the position of guide groove (4), guide cylinder (15) is installed on the outside of walking seat (3) and is arranged vertically, a plurality of guide rods (16) are matched and installed in guide cylinder (15) and can be vertically lifted, the top of the uppermost guide rod (16) is equipped with limiting bolt (17), and the guide plate (18) that is fixedly connected with the bottom of limiting bolt (17) is arranged on lifting frame (2).

4. The transport AGV that reciprocates in a warehouse according to claim 1, characterized in that: Horizontal arrangement guide sleeve (19) is installed on the car body of the bottom of tray (1), the connecting rod (20) that can extend is matched and installed in guide sleeve (19), and the end of connecting rod (20) is equipped with lifting frame (2), wherein the side of connecting rod (20) is equipped with rack (21), and the first avoiding slot (22) that can let rack (21) expose is opened in guide sleeve (19), and the second motor (23) is installed on the side of guide sleeve (19), the gear (24) that is engaged with rack (21) is installed on the output shaft of second motor (23), and the second motor (23) starts and can drive connecting rod (20) and lifting frame (2) to move horizontally and extend.

5. The transport AGV that reciprocates in a warehouse according to claim 1, characterized in that: The lifting frame (2) is provided with an oil storage cavity (25), and a piston valve core (26) is installed in the oil storage cavity (25). The oil storage cavity (25) on one side of the piston valve core (26) is filled with hydraulic oil, and the oil storage cavity (25) on this side is connected with the oil circuit of the lifting cylinder (9) through an oil pipe (27). A return spring (28) is further installed between the piston rod and the cylinder barrel of the lifting cylinder (9), and the return spring (28) always has a tendency to retract the piston rod of the lifting cylinder (9) into the cylinder barrel. A pressure rod (29) penetrating the oil storage cavity (25) is installed on the other side of the piston valve core (26), and 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 extrude 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.

6. The transport AGV that reciprocates in a warehouse according to claim 5, characterized in that: Corresponding to the position of the pressure rod (29), a second avoiding groove (30) is formed at the top of the walking base (3), and the second avoiding groove (30) is connected with the guide groove (4).

7. The transport AGV 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), one end of the cable bracket (31) is fixed on the lifting frame (2), a through groove (32) is formed on the vehicle body at the position of the lifting cylinder (9) to allow the cable bracket (31) to penetrate, and the oil pipe (27) is located at the upper position of the cable bracket (31).

8. The transport AGV that reciprocates in a warehouse according to claim 1, characterized in that: The front and rear ends of the vehicle body in the traveling direction are provided with cameras (33), 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 automatic guided vehicle walking area, the cameras (33) can identify and shoot the guide line at the position of the automatic guided vehicle, and the position information of the automatic guided vehicle is transmitted to the dispatching controller (36) through the wireless communication module (34), the guide line sensor (35) can identify the guide line and control the automatic guided vehicle to track and walk along the guide line, when the automatic guided vehicle carrying goods walks from the loading location to the unloading location, and the empty automatic guided vehicle returns to the loading location from the unloading location, the dispatching controller (36) controls the empty automatic guided vehicle to stop walking, the automatic guided vehicle carrying goods passes the turning position first, and then the empty automatic guided vehicle starts walking and returns to the loading location after the automatic guided vehicle carrying goods walks away from the turning position.

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