Automatic unstacking, stacking and conveying system based on AGV

Abstract

The invention belongs to the technical field of stacking, in particular to an automatic unstacking and stacking conveying system based on an AGV, and provides the following scheme that the automatic unstacking and stacking conveying system based on the AGV comprises a driving base, a power battery, a handle, an operation table, a lifting door and a lifting frame, the power battery is arranged on the driving base, and the lifting door is fixed to one side of the driving base; the operation table is installed on one side of the lifting door, the handle is fixed to the driving base, the lifting frame is arranged on one side of the lifting door, and an anti-skid mechanism is arranged on the top of the lifting frame. The anti-skid mechanism comprises a supporting pad, two guide plates, two gear sets, two push plates, two moving blocks and two folding pieces, and a supporting spring is arranged between the supporting pad and the lifting frame. Friction force between goods and the lifting frame is increased through wrinkles generated when the folding pieces are folded, so that the lifting stability of the goods is improved, and the situation that the goods slip off from the lifting frame due to poor stability of the goods during transportation, and consequently the goods are damaged during transportation is prevented.

Description

Technical Field

[0001] This invention relates to the field of palletizing, and more particularly to an AGV-based automatic depalletizing and palletizing conveying system. Background Technology

[0002] AGV, also known as Automated Guided Vehicle, refers to a transport vehicle equipped with electromagnetic or optical automatic guidance devices. It can travel along a prescribed guidance path and has safety protection and various transfer functions. In warehouse management, AGVs are usually used to transport and palletize goods in the warehouse.

[0003] A search revealed Chinese patent application CN119240331A, which discloses a warehouse AGV automatic depalletizing and palletizing system. The system includes a heavy-duty AGV and a pallet conveyor. The heavy-duty AGV is mounted on a palletizing platform, with a lifting platform installed on one side of its top. An industrial robot equipped with a vision camera is mounted on top of the lifting platform. The pallet conveyor is positioned to one side of a pallet conveying and positioning mechanism, with a palletizing station located on top of the mechanism. This warehouse AGV automatic depalletizing and palletizing system allows the heavy-duty AGV to move autonomously without tracks, covering a wide operating range. It automatically adjusts the height of the industrial robot according to the pallet height. The vision camera automatically guides the heavy-duty AGV and industrial robot through identification and positioning, enabling continuous operation and high efficiency. It replaces manual labor in warehouse depalletizing, palletizing, and transfer operations, achieving fully automated management of rackless warehouses. Simultaneously, it automatically counts outbound quantities and monitors task status in real time.

[0004] When transporting and palletizing goods, existing AGVs typically use lifting frames to transport the palletized goods. However, during transportation, the stacking of goods can lead to poor stability, causing them to slip off the lifting frames and resulting in damage. Summary of the Invention

[0005] To achieve the above objectives, the present invention adopts the following technical solution: An AGV-based automatic depalletizing and palletizing conveying system includes a drive base, a power battery, a handle, an operating table, a lifting door, and a lifting frame. The power battery is mounted on the drive base, the lifting door is fixed to one side of the drive base, the operating table is mounted on one side of the lifting door, the handle is fixed to the drive base, and the lifting frame is located on one side of the lifting door, with an anti-slip mechanism on its top. The anti-slip mechanism includes a support pad, two guide plates, two gear sets, two push plates, two moving blocks, and two folding parts. A support spring is provided between the support pad and the lifting frame. The two guide plates are fixed to the bottom of the support pad. A top rod is provided between the push plate and the moving block. One side of the bottom of the folding part is fixedly connected to the moving block. The guide plates and the push plates are connected by the gear sets.

[0006] Preferably, the lifting frame includes a side plate, two sliding plates, a connecting plate, a hydraulic cylinder, and a support rod. A sliding opening is provided on one side of the lifting door, and the two sliding plates are slidably connected inside the sliding opening. A connecting port is provided through one side of each of the two sliding openings. The connecting plate is slidably connected inside the two connecting ports and fixedly connected to the two sliding plates. The top of the hydraulic cylinder is fixedly connected to the lifting door, and the bottom is fixedly connected to the connecting plate. The two sliding plates are fixedly connected to the side plate, and the support rod is fixed to one side of the side plate.

[0007] Preferably, the top of the support rod has guide openings on both sides that are adapted to the guide plate, the guide plate is slidably connected inside the guide openings, the top of the support rod has two through openings, the push plate is slidably connected inside the through openings, a through opening is provided between the through openings and the guide openings, the gear set is disposed inside the through openings, the top of the support rod has slots on both sides, the moving block is slidably connected inside the slots, one end of the folding piece is fixed to one side of the slot, a pull-out opening is provided between the slot and the through opening, and the pull-out opening is slidably connected to the top rod.

[0008] Preferably, the gear set consists of a first rack, a second rack, a rotating shaft, and a gear. The first rack is fixed to one side of the guide plate, the second rack is fixed to one side of the push plate, the rotating shaft is rotatably connected to the through hole, and the gear is fixedly sleeved on the rotating shaft, with its two sides meshing with the first rack and the second rack respectively.

[0009] Preferably, the folding component is composed of multiple folding blocks, which are bonded together and have creases at their joints. Each folding block has a hollow cavity inside and is made of silicone.

[0010] Preferably, a reinforcement mechanism is provided on one side of the lifting frame, and the reinforcement mechanism cooperates with the anti-slip mechanism.

[0011] Preferably, the reinforcement mechanism includes a push rod, a slider, a reinforcement plate, and a swing plate. One side of the side plate has a groove adapted to the slider, and the slider is slidably connected in the groove. The two ends of the push rod are movably connected to the slider and the support pad, respectively. A top shaft is fixed to the top of the slider. Two support blocks are fixed to one side of the side plate. A reinforcement spring is welded between the support blocks and the reinforcement plate. A swing frame is fixed to one side of the side plate. The swing plate is rotatably connected to the swing frame, and one end of the swing plate extends into the groove.

[0012] Preferably, the bottom of the reinforcing plate is provided with a plurality of ball grooves, and each ball groove is connected to a ball in a rolling manner.

[0013] Preferably, a plurality of suction cups are provided on one side of the reinforcing plate, and each suction cup has an exhaust hole on one side, with a sealing plug inside the exhaust hole.

[0014] The beneficial effects of this invention are as follows: 1. This invention, through the installation of a lifting frame and an anti-slip mechanism, allows for the transport of stacked goods in a warehouse. The lifting frame is driven by a drive base. When the lifting frame moves below the goods, it is activated, lifting the stacked goods. Simultaneously, the drive base continues to move the lifting frame, ensuring the goods are fully supported on it. After support is achieved, the lifting frame is activated again, lifting the goods and transporting them via the drive base. When the goods contact the support pad, the support pad, under the action of the goods, causes the guide plate to slide to one side. At this time, the first rack moves synchronously with the guide plate. When the rack moves, it meshes with the gear, which rotates under the action of meshing. When the gear rotates, it drives the second rack to move through meshing. The direction of movement of the second rack is opposite to that of the first rack. Therefore, when the second rack moves, it drives the push plate to move synchronously. At this time, when the push plate moves, it pushes the top rod and the moving block to move. When the moving block moves, it drives the folding component to fold. The folds generated by the folding component increase the friction between the goods and the lifting frame, so as to improve the stability of the goods lifting and prevent the goods from slipping off the lifting frame due to poor stability during transportation, thereby causing damage to the goods during transportation. 2. This invention, through its anti-slip and reinforcement mechanisms, allows the support pad to slide to one side under the influence of goods. This pusher, in turn, moves the slider within the groove, causing the slider to move the top shaft upwards. This upward movement of the top shaft then pushes one side of the swing plate upwards, while the other side of the swing plate downwards. This downward rotation of the other side of the swing plate pushes the reinforcement plate downwards. When the reinforcement plate contacts the top of the goods as it moves downwards, it compresses the top of the goods. Because the bottom of the reinforcement plate has multiple ball bearings, it reinforces the goods without affecting their stacking. Furthermore, when the reinforcement plate contacts the side of the goods as it moves downwards, a suction cup can adhere and fix one side of the goods. The cooperation between the anti-slip and reinforcement mechanisms effectively improves the stability of goods during transport, thereby enhancing the transport efficiency. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of an AGV-based automatic depalletizing and palletizing conveying system proposed in this invention; Figure 2 This is a side view of an AGV-based automatic depalletizing and palletizing conveying system proposed in this invention. Figure 3 This is a schematic diagram of a lifting frame structure for an AGV-based automatic depalletizing and palletizing conveying system proposed in this invention; Figure 4 This is a partial structural diagram of an AGV-based automatic depalletizing and palletizing conveying system proposed in this invention; Figure 5 This is a schematic diagram of an anti-slip mechanism structure for an AGV-based automatic depalletizing and palletizing conveying system proposed in this invention; Figure 6 This is a schematic diagram of a folding component structure based on an AGV automatic depalletizing and palletizing conveying system proposed in this invention; Figure 7 This is a schematic diagram of a reinforcement mechanism for an AGV-based automatic depalletizing and palletizing conveying system proposed in this invention.

[0016] In the attached diagram: 1. Drive base; 2. Power battery; 3. Handle; 4. Operating panel; 5. Lifting door; 6. Lifting frame; 7. Anti-slip mechanism; 8. Reinforcing mechanism; 9. Slide opening; 10. Connection port; 11. Side plate; 12. Slide plate; 13. Connecting plate; 14. Hydraulic cylinder; 15. Support rod; 16. Slide groove; 17. Through opening; 18. Groove; 19. Support spring; 20. Support pad; 21. Guide plate; 22. First rack; 23. Rotating shaft; 24. Gear; 25. Push plate; 26. Second rack; 27. Top rod; 28. Moving block; 29. ​​Folding part; 30. Folding block; 31. Crease; 32. Hollow cavity; 33. Slider; 34. Push rod; 35. Top shaft; 36. Support block; 37. Reinforcing spring; 38. Reinforcing plate; 39. Suction cup; 40. Swing frame; 41. Swing plate. Detailed Implementation

[0017] Example 1, referring to Figures 1-6 An AGV-based automatic depalletizing and palletizing conveying system includes a drive base 1, a power battery 2, a handle 3, an operating table 4, a lifting door 5, a lifting frame 6, an anti-slip mechanism 7, and a reinforcement mechanism 8.

[0018] The drive base 1 is the mobile carrier of this system. It integrates drive wheels, steering mechanism and control system (not shown in the figure). The power battery 2 is fixedly installed on the drive base 1 by bolts to provide power for the operation of the entire system. The handle 3 is fixed to the rear side of the drive base 1 to facilitate manual push or positioning. The lifting door 5 is vertically fixed to one side of the drive base 1 by bolts. The operating panel 4 is installed on the front of the lifting door 5. It is equipped with a touch screen and control buttons for human-machine interaction and command input.

[0019] refer to Figure 3 The lifting frame 6 is used to perform forklift and lifting operations. Its specific structure includes a side plate 11, two sliding plates 12, a connecting plate 13, a hydraulic cylinder 14, and a support rod 15. The side of the lifting door 5 has two vertical sliding openings 9. The two sliding plates 12 are slidably embedded in the two sliding openings 9 respectively. A connecting port 10 is also provided on the side of each sliding opening 9. The connecting plate 13 is horizontally set, and its two ends pass through the two connecting ports 10 respectively. It is fixedly connected to the back of the two sliding plates 12 by bolts, thereby connecting the two sliding plates 12 into one unit to ensure synchronous lifting. The cylinder end of the hydraulic cylinder 14 is fixedly connected to the upper part of the lifting door 5 by bolts, and the end of its piston rod is fixedly connected to the middle part of the connecting plate 13 by bolts. By extending and retracting the hydraulic cylinder 14, the connecting plate 13 and the sliding plates 12 can be driven to slide up and down along the sliding openings 9. Its vertical part is fixedly connected to the front of the two sliding plates 12 by bolts. The support rod 15 is a cuboid structure and is horizontally fixed on the horizontal part of the side plate 11 to directly support the goods.

[0020] refer to Figures 4-5 The anti-slip mechanism 7 is integrated on the top of the support rod 15. Its core function is to increase friction and provide lateral restraint when picking up goods, preventing the goods from slipping. The anti-slip mechanism 7 includes a support pad 20, two guide plates 21, two gear sets, two push plates 25, two moving blocks 28, and two folding parts 29. The support pad 20 is a long strip of rubber pad located directly above the support rod 15. The two are connected by multiple support springs 19. The two guide plates 21 are fixed to the bottom of the support pad 20 by bolts and extend downward. The top of the support rod 15 has guide openings on both sides that match the cross-sectional shape of the guide plates 21. The guide plates 21 are inserted into them and can slide. The top of the support rod 15 also has two through holes 17. The two push plates 25 are placed in these two through holes 17 respectively and can slide horizontally along them. A through opening is provided between the through hole 17 and the adjacent guide opening.

[0021] refer to Figure 5 The gear set is installed inside the through-hole. The gear set includes a first rack 22, a second rack 26, a rotating shaft 23, and a gear 24. The first rack 22 is fixed to the side of the guide plate 21 by bolts. The second rack 26 is fixed to the corresponding side of the push plate 25 by bolts. The rotating shaft 23 is rotatably connected inside the through-hole by bearings. The gear 24 is fixedly sleeved in the middle of the rotating shaft 23 and meshes with both the vertical first rack 22 and the horizontal second rack 26.

[0022] refer to Figure 6 On both sides of the top of the support rod 15, there is a slot 18. The moving block 28 is slidably disposed in the slot 18. The folding piece 29 is formed by bonding multiple silicone folding blocks 30 with hollow cavities 32 inside. Creases 31 are pressed between adjacent folding blocks 30 so that they can be extended and folded like an accordion. One end of the folding piece 29 is fixed to the inner wall of the slot 18, and the other end is fixedly connected to the outer side of the moving block 28. A pull-out opening is provided between the slot 18 and the adjacent through opening 17. The two ends of the push rod 27 are respectively hinged or ball-jointed with the end of the push plate 25 and the inner side of the moving block 28, thereby transmitting the horizontal movement of the push plate 25 to the moving block 28.

[0023] Example 2, refer to Figures 1-7 An AGV-based automatic depalletizing and palletizing conveying system, compared with Embodiment 1, has a reinforcement mechanism 8 on one side of the lifting frame 6, which cooperates with the anti-slip mechanism 7.

[0024] refer to Figure 7The reinforcement mechanism 8 is located on the side of the side plate 11 and is used to provide auxiliary reinforcement after the goods are picked up by forklifts. It includes a slider 33, a push rod 34, a reinforcement plate 38, and a swing plate 41. A vertical groove 16 is provided on the side of the side plate 11. The slider 33 is slidably disposed in the groove 16. The push rod 34 is inclined and its lower end is hinged to the slider 33, and its upper end is hinged to the bottom of the support pad 20. A top shaft 35 extending upward is welded to the top of the slider 33. On the side plate 11, two support blocks 36 are fixed above the groove 16 by bolts. The reinforcement plate 38 is long and narrow. The back of the plate is connected to the support block 36 by two reinforcing springs 37, so that the reinforcing plate 38 maintains a certain distance from the side plate 11 in its natural state. The bottom of the reinforcing plate 38 has multiple ball grooves, in which balls are embedded. The front of the reinforcing plate 38 (the side away from the side plate 11) is equipped with multiple suction cups 39, each suction cup 39 has an exhaust hole, and the hole is filled with a rubber sealing plug. A swing frame 40 is also fixed on the side plate 11. The swing plate 41 and the swing frame 40 are rotatably connected by a bearing. The lower end of the swing plate 41 extends into the upper area of ​​the slide groove 16.

[0025] In summary, with the aid of the above-mentioned technical solution of the present invention: when transporting goods stacked in a warehouse, the lifting frame 6 is moved by the drive base 1. When the lifting frame 6 moves to below the goods, it is activated, and the lifting frame 6 lifts the stacked goods. At the same time, the drive base 1 continues to move the lifting frame 6, so that the stacked goods are completely supported on the lifting frame 6. After the goods are supported, the lifting frame 6 is activated, and it lifts the goods and transports them through the drive base 1. When the goods are in contact with the support pad 2... When there is zero contact, the support pad 20 will cause the guide plate 21 to slide to one side under the action of the goods. At this time, the first rack 22 will move synchronously with the movement of the guide plate 21. When the first rack 22 moves, it will mesh with the gear 24, and the gear 24 will rotate under the action of meshing. When the gear 24 rotates, it will drive the second rack 26 to move through meshing. The direction of movement of the second rack 26 is opposite to the direction of movement of the first rack 22. Therefore, when the second rack 26 moves, it will drive the push plate 25 to move synchronously. At this time, the push plate 26... 5. During movement, it pushes the top rod 27 and the moving block 28 to move. The moving block 28, in turn, causes the folding component 29 to fold, thereby increasing the friction between the cargo and the lifting frame through the folds created by the folding component 29. When the support pad 20 moves to one side under the action of the cargo, it pushes the push rod 34 to slide to one side. At this time, the push rod 34, while sliding, pushes the slider 33 to slide inside the slide groove 16. The slider 33 then causes the top shaft 35 to move upwards, and the top shaft 35, while moving, pushes the swing plate 41... One side deflects upwards, while the other side of the swing plate 41 deflects downwards. At this time, the other side of the swing plate 41 pushes the reinforcing plate 38 downwards as it deflects downwards. When the reinforcing plate 38 contacts the top of the goods as it moves downwards, it will press the top of the goods. Since there are multiple ball bearings at the bottom of the reinforcing plate 38, the reinforcing plate 38 will not affect the stacking of the goods while reinforcing them. When the reinforcing plate 38 contacts the side of the goods as it moves downwards, the suction cup 39 can adsorb and fix one side of the goods.

[0026] In summary, the above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An AGV-based automatic depalletizing and palletizing conveying system, comprising a drive base (1), a power battery (2), a handle (3), an operating table (4), a lifting door (5), and a lifting frame (6), wherein the power battery (2) is disposed on the drive base (1), the lifting door (5) is fixed to one side of the drive base (1), the operating table (4) is installed on one side of the lifting door (5), and the handle (3) is fixed to the drive base (1), characterized in that, The lifting frame (6) is located on one side of the lifting door (5), and an anti-slip mechanism (7) is provided on its top. The anti-slip mechanism (7) includes a support pad (20), two guide plates (21), two gear sets, two push plates (25), two moving blocks (28), and two folding parts (29). A support spring (19) is provided between the support pad (20) and the lifting frame (6). The two guide plates (21) are fixed to the bottom of the support pad (20). A top rod (27) is provided between the push plate (25) and the moving block (28). One side of the bottom of the folding part (29) is fixedly connected to the moving block (28). The guide plate (21) and the push plate (25) are connected through the gear set.

2. The AGV-based automatic depalletizing and palletizing conveying system according to claim 1, characterized in that, The lifting frame (6) includes a side plate (11), two sliding plates (12), a connecting plate (13), a hydraulic cylinder (14), and a support rod (15). A sliding opening (9) is provided on one side of the lifting door (5). The two sliding plates (12) are slidably connected inside the sliding opening (9). A connecting port (10) is provided through one side of each of the two sliding openings (9). The connecting plate (13) is slidably connected inside the two connecting ports (10) and fixedly connected to the two sliding plates (12). The top of the hydraulic cylinder (14) is fixedly connected to the lifting door (5), and the bottom is fixedly connected to the connecting plate (13). The two sliding plates (12) are fixedly connected to the side plate (11), and the support rod (15) is fixed to one side of the side plate (11).

3. The AGV-based automatic depalletizing and palletizing conveying system according to claim 2, characterized in that, The top of the support rod (15) has guide openings on both sides that are adapted to the guide plate (21). The guide plate (21) is slidably connected inside the guide opening. The top of the support rod (15) has two through openings (17). The push plate (25) is slidably connected inside the through opening (17). A through opening is provided between the through opening (17) and the guide opening. The gear set is located inside the through opening. The top of the support rod (15) has slots (18) on both sides. The moving block (28) is slidably connected inside the slot (18). One end of the folding piece (29) is fixed to one side of the slot (18). A pull-out opening is provided between the slot (18) and the through opening (17). The pull-out opening is slidably connected to the top rod (27).

4. The AGV-based automatic depalletizing and palletizing conveying system according to claim 1, characterized in that, The gear set consists of a first rack (22), a second rack (26), a rotating shaft (23), and a gear (24). The first rack (22) is fixed on one side of the guide plate (21), the second rack (26) is fixed on one side of the push plate (25), the rotating shaft (23) is rotatably connected to the through hole, and the gear (24) is fixedly sleeved on the rotating shaft (23), and its two sides are respectively meshed with the first rack (22) and the second rack (26).

5. The AGV-based automatic depalletizing and palletizing conveying system according to claim 1, characterized in that, The folding component (29) is composed of multiple folding blocks (30), which are bonded together and have creases (31) at their connection points. A hollow cavity (32) is provided inside the folding block (30), and the material of the folding block (30) is silicone.

6. The AGV-based automatic depalletizing and palletizing conveying system according to claim 1, characterized in that, A reinforcement mechanism (8) is provided on one side of the lifting frame (6), and the reinforcement mechanism (8) cooperates with the anti-slip mechanism (7).

7. The AGV-based automatic depalletizing and palletizing conveying system according to claim 6, characterized in that, The reinforcement mechanism (8) includes a push rod (34), a slider (33), a reinforcement plate (38), and a swing plate (41). A groove (16) adapted to the slider (33) is provided on one side of the side plate (11). The slider (33) is slidably connected in the groove (16). The two ends of the push rod (34) are movably connected to the slider (33) and the support pad (20) respectively. A top shaft (35) is fixed on the top of the slider (33). Two support blocks (36) are fixed on one side of the side plate (11). A reinforcement spring (37) is welded between the support block (36) and the reinforcement plate (38). A swing frame (40) is fixed on one side of the side plate (11). The swing plate (41) is rotatably connected to the swing frame (40), and one end of it extends into the interior of the groove (16).

8. The AGV-based automatic depalletizing and palletizing conveying system according to claim 7, characterized in that, The bottom of the reinforcing plate (38) is provided with multiple ball grooves, and each ball groove is connected to a rolling ball.

9. The AGV-based automatic depalletizing and palletizing conveying system according to claim 7, characterized in that, The reinforcing plate (38) has a plurality of suction cups (39) on one side, and each suction cup (39) has an exhaust hole on one side, and a sealing plug is provided inside the exhaust hole.

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