Stereoscopic warehouse in-warehouse goods checking AGV trolley with lifting platform

Abstract

The utility model discloses a stereoscopic warehouse in-warehouse goods checking AGV (Automatic Guided Vehicle) with a lifting platform, which combines a radio frequency identification (RFID) technology, an automatic guided vehicle (AGV) technology, an image identification technology and a data transmission technology, and particularly relates to the field of stereoscopic warehouse goods checking. The AGV goods checking trolley comprises a moving obstacle avoidance module, a lifting module and a goods checking recognition module. The mobile obstacle avoidance module is formed by matching an aluminum profile vehicle body with universal wheels, driving wheels, a motor, a control panel, a laser obstacle avoidance radar and a battery; a lifting module is mounted at the top of the movable obstacle avoidance module, consists of a plurality of square aluminum pipes, hollow aluminum pipes, upper and lower bottom plates and related connecting pieces, and realizes lifting through a shear type structure; the top of the lifting module is provided with a goods-checking identification module, and the goods-checking identification module is composed of an RFID module matched with a camera, a communication chip and a battery. According to the trolley, path planning and moving in a warehouse are achieved by means of the moving obstacle avoidance module, then goods at different positions and different goods shelf heights of the warehouse are checked by means of the lifting module and the goods checking recognition module, the inventory checking efficiency of the stereoscopic warehouse is remarkably improved, and the goods checking error rate is reduced.

Description

Technical Field

[0001] The utility model relates to the field of inventory counting of goods in a stereoscopic warehouse, and in particular to an AGV cargo inventory counting trolley which combines radio frequency identification technology (RFID), automatic guided vehicle technology (AGV), image recognition technology and data transmission technology, and is used for inventory counting of goods in a stereoscopic warehouse. Background Art

[0002] With the vigorous development of my country's e-commerce industry, a large number of merchants have begun to build e-commerce warehouses. Stereoscopic warehouses have become the first choice for e-commerce warehouses due to their large space and easy management. However, in the current inventory counting methods of stereoscopic warehouses, many companies still rely on traditional manual inspections or manual driving of forklifts to designated locations for inventory counting. These methods not only consume a lot of human resources, but also easily lead to inventory omissions under the complexity of the warehouse environment and employee negligence. In addition, some automated inventory counting equipment can only identify and count the bottom pallets carrying goods, and cannot handle the inventory counting task of a single item on the shelf. In order to solve the above problems, the utility model proposes a cargo inventory AGV trolley that combines radio frequency identification technology (RFID), automatic guided vehicle technology (AGV), image recognition technology and data transmission technology. This cargo inventory AGV trolley can pre-set the inventory path according to the shelf layout in the stereoscopic warehouse, and at the same time, combine its own lifting platform with RFID recognition technology, image recognition technology and data transmission technology to complete the rapid inventory task of the goods in the stereoscopic warehouse.

[0003] The automated features of the cargo inventory trolley can significantly improve the efficiency of cargo inventory in a stereoscopic warehouse and reduce labor costs. It can be used in stereoscopic warehouses with stereoscopic shelves, and can also be flexibly applied to other logistics scenarios that require cargo inventory. Utility Model Content

[0004] The utility model relates to an AGV trolley for inventorying goods in a stereoscopic warehouse with a lifting platform. The technical problem to be solved by the utility model is that when manually counting goods in a stereoscopic warehouse, workers need to rely on tools such as ladders to climb to a certain height to perform operations, which has certain safety risks. In addition, this method of warehouse inventory is less efficient. To this end, the utility model provides the following technical solutions: an AGV trolley for inventorying goods in a stereoscopic warehouse with a lifting platform, comprising a mobile obstacle avoidance module, a lifting module and a goods inventory identification module; the lifting module of the trolley is installed on the top of the mobile obstacle avoidance module, and the goods inventory identification module is installed on the top of the lifting module.

[0005] The mobile obstacle avoidance module of the trolley comprises: an aluminum profile frame, a driving wheel mounting plate, a driving motor mounting plate, a universal wheel mounting plate, a driving wheel, a driving motor and a universal wheel are installed at the bottom of the aluminum profile frame; an electric control mounting plate is installed inside the aluminum profile frame, a laser obstacle avoidance radar is installed on the aluminum profile frame, and a battery and a control panel are installed on the electric control mounting plate.

[0006] The lifting module of the trolley includes: a lifting mechanism bottom plate, a plurality of square aluminum tubes, a plurality of aluminum tubes, a plurality of seat bearings, a plurality of retaining springs, a lifting mechanism top plate, a lifting mechanism bottom plate, a rubber-coated bearing, a guide shaft fixing seat, a screw base, a screw, a stepper motor mounting plate, and a stepper motor.

[0007] The inventory identification module of the trolley includes: an RFID identification module, a camera, a communication chip and a battery. The inventory identification module is installed on the top side of the trolley lifting module.

[0008] Preferably, in order to facilitate the installation of the drive motor, the drive wheel and the universal wheel, the mounting plate connected to the frame is provided with mounting holes for facilitating the installation of the motor and the wheel.

[0009] Preferably, the mounting plate in the frame is provided with circuit holes to facilitate connection of the power supply and the control board with the drive motor.

[0010] Preferably, the bottom plate of the lifting mechanism is used to install the screw base, the screw and the stepping motor. The bottom plate of the lifting module is connected and fixed to the top of the mobile obstacle avoidance module through a slider nut.

[0011] Preferably, the bottom plate of the lifting mechanism is provided with a circuit hole to facilitate the connection of the stepping motor with the control board and the power supply.

[0012] Preferably, the lifting mechanism is composed of square aluminum tubes connected in a scissor-like manner through aluminum tubes.

[0013] Preferably, a rubber-coated bearing is installed on one side of the scissor structure connected to the bottom plate of the lifting mechanism and is clamped in the track, and a guide shaft fixing seat is installed on the other side.

[0014] Preferably, the motor drives the screw to rotate, and the screw nut is connected to an aluminum tube at the bottom of the lifting mechanism to move forward and backward along the direction of the screw, driving the scissor-like cross opening and closing.

[0015] Preferably, in order to fix the lifting mechanism to ensure left-right stability, retaining spring grooves are provided at both ends of the aluminum tube.

[0016] Preferably, in order to prevent the aluminum tube from getting stuck during the lifting process, a seat bearing is installed at the position where the square aluminum tube passes through the aluminum tube. The scissor structures on the left and right sides are connected by the aluminum tube through holes on the square aluminum tube corresponding to the diameter of the aluminum tube. To prevent the aluminum tube from moving horizontally after the connection, a retaining spring groove is engraved at the position where the aluminum tube extends out of the square aluminum tube.

[0017] Preferably, the aluminum tube passes through the seated bearing installed in the square aluminum tube, and after the connection is completed, a retaining ring groove is installed to fix the aluminum tube.

[0018] Preferably, one side of the connection between the lifting module top plate and the scissors structure is connected by an aluminum tube extending from a square aluminum tube and fixed by a retaining spring and a retaining spring groove, and the other side is clamped in the rubber-coated bearing moving track at the top of the lifting mechanism by the rubber-coated bearing at the top of the lifting mechanism.

[0019] Preferably, a mounting hole is provided on the top plate of the lifting module to facilitate the installation of the inventory identification module.

[0020] Technical effects and advantages of the utility model:

[0021] The utility model realizes the autonomous guided movement of the cargo inventory AGV trolley through the trolley mobile obstacle avoidance module, arrives at the target point to perform the inventory task, and through the operation of the lifting module, the inventory module starts to inventory the goods from the bottom of the shelf, and the RFID and camera collect the information of the goods and transmit it to the host computer through the communication chip. After the inventory of the target shelf is completed, the trolley will drive to the next shelf to perform the task. During the inventory process, relying on the cooperation of the lifting structure and the inventory identification module, the inventory of goods on small and medium-sized shelves can be completed quickly, and the status of the goods can also be viewed through the real-time pictures of the camera. Compared with traditional manual inventory, the utility model has the advantages of high efficiency and safety, can reduce the cost of manual inventory, and improve the efficiency of warehouse inventory. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a right-side overall structural schematic diagram of the utility model;

[0023] Figure 2 For the utility model Figure 1 A schematic diagram of the enlarged structure of part A;

[0024] Figure 3 This is a schematic diagram of the lifting module structure of the utility model;

[0025] Figure 4 For the utility model Figure 3 A schematic diagram of the enlarged structure of part B in FIG.

[0026] Figure 5 This is a top view of the bottom plate of the lifting module of the utility model;

[0027] Figure 6 This is a schematic diagram of the bottom plate of the mobile obstacle avoidance module of the utility model;

[0028] The order of the reference numerals in the figures is: 1. vehicle body; 2. universal wheel mounting plate; 3. driving wheel mounting plate; 4. universal wheel; 5. driving wheel; 6. driving motor; 7. electric control mounting plate; 8. bottom plate of lifting mechanism; 9. top plate of lifting mechanism; 10. square aluminum tube; 11. aluminum tube; 12. bearing with seat; 13. retaining ring groove; 14. guide shaft fixing seat; 15. moving rod; 16. inventory module; 17. screw base; 18. screw; 19. motor mounting frame; 20 coupling; 21. motor; 20. rubber-coated bearing; 23. line hole; 24. moving shaft connecting plate; 25. moving shaft; 26. bearing with seat; 27. battery; 28. control board; 29. ​​laser obstacle avoidance radar. DETAILED DESCRIPTION

[0029] The following will be combined with the embodiments of the utility model and the corresponding drawings to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are part of the examples of the utility model, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work results are within the scope of protection of the present invention.

[0030] Example:

[0031] See also Figure 1 , an AGV trolley for inventorying goods in a three-dimensional warehouse with a lifting platform, including a car body 1, a universal wheel mounting plate 2, a driving wheel mounting plate 3, a universal wheel 4, a driving wheel 5, a driving motor 6, an electric control mounting plate 7, a lifting mechanism bottom plate 8, a lifting mechanism top plate 9, a square aluminum tube 10, an aluminum tube 11, a guide shaft fixing seat 14, a moving rod 15, an inventory module 16, a battery 27, and a control board 28. The bottom of the car body 1 has a slider nut for mounting the universal wheel mounting plate 2 and the driving wheel mounting plate 3; the inside of the car body 1 also has a slider nut for mounting the battery mounting plate 7; the groove of the aluminum profile on the top of the car body 1 also has a slider nut for mounting the lifting mechanism bottom plate 8; the battery 27 and the control board 28 are both mounted on the electric control mounting plate 7; the universal wheel 4 of the trolley is mounted on the corresponding universal wheel mounting plate 2, and the driving wheel 5 and the driving motor 6 are combined and mounted on the driving wheel mounting plate 3.

[0032] See also Figure 2 , this picture is Figure 1 The details at A are enlarged, including the retaining ring groove 13 and the bearing seat 12. The retaining ring groove 13 is located at the end of the aluminum tube 11, and is used to install the retaining ring to prevent the horizontal movement of the aluminum tube 11 after it is connected to the square aluminum tube 10. The bearing seat 12 is installed together with the bottom plate 8 and the square aluminum tube 10 close to the bottom plate 8.

[0033] See also Figure 3This figure is a specific structural diagram of the lifting module, including the lifting mechanism bottom plate 8, the lifting mechanism top plate 9, the bearing with seat 12, the guide shaft fixing seat 14, the moving rod 15, the inventory module 16, the screw base 17, the screw 18, the rubber-coated bearing 22, the moving shaft connecting plate 24, and the moving shaft 25. The moving shaft 25 is connected to the nut of the screw 18 by the moving shaft connecting plate 24, and the two sides of the moving shaft are connected to the square aluminum tube 10 by the guide shaft fixing seat 14. The two sides of the connected square aluminum tube 10 are equipped with rubber-coated bearings 22, and the rubber-coated bearings 22 are stuck in the lifting mechanism bottom plate 8. The aluminum tube 11 passes through the overlapping mounting holes of the square aluminum tube 10 and cooperates with the retaining ring groove 13 to fix the square aluminum tube 10 to form a scissor structure. The moving rod 15 and the guide shaft fixing seat 14 are fixedly connected to the square aluminum tube 10 equipped with the rubber-coated bearings 22, and the square aluminum tube 10 is stuck on the lifting mechanism top plate by the rubber-coated bearings 22; the inventory module is installed on the lifting top plate.

[0034] See also Figure 4 , this picture is Figure 3 The enlarged detail view at B in the middle includes the lifting mechanism bottom plate 8 and the seat bearing 26, the guide shaft fixing seat 14 and the rubber-coated bearing 22. The aluminum tube 11 is connected to the square aluminum tube 10 by the guide shaft fixing seat, and the rubber-coated bearing 22 is installed on the outside of the square aluminum tube 10, and the rubber-coated bearing 22 is stuck in the lifting mechanism bottom plate 8.

[0035] See also Figure 5 This figure is a top view of the lifting mechanism bottom plate, including the lifting mechanism bottom plate 8, the bearing with seat 12, the guide shaft fixing seat 14, the moving rod 15, the screw base 17, the screw 18, the motor mounting frame 19, the coupling 20, the motor 21, the rubber-coated bearing 22, and the line hole 23. The screw base 17 is installed in the installation groove of the lifting mechanism bottom plate 8, the screw 18 runs through the screw base 17 and is connected to the motor 21 through the coupling 20, and the nut on the screw 18 is connected to the moving shaft 25, and the inventory module.

[0036] See also Figure 6 This figure is a schematic diagram of the chassis of the mobile obstacle avoidance module of the trolley, including a vehicle body 1, a universal wheel mounting plate 2, a driving wheel mounting plate 3, a universal wheel 4, a driving wheel 5, a driving motor 6, and an electronic control mounting plate 7. The universal wheel mounting plate 2 and the driving wheel mounting plate 3 are connected to the vehicle body 1 by means of slider nuts and screws, the driving clip 6 is connected to the driving wheel 5 and then installed on the driving wheel mounting plate 3 located at the center of the vehicle body, and the universal wheel 4 is installed on the universal wheel mounting plate 2 distributed on the vehicle body 1.

[0037] The working principle of the present invention is as follows: an AGV trolley for inventorying goods in a three-dimensional warehouse with a lifting platform, the AGV trolley plans the path of the warehouse map, and starts the inventory work after the vehicle body 1 moves to the designated location, the motor 21 drives the screw 18 to rotate, and the rotation of the screw 18 causes the moving shaft 25 to move forward or backward along the direction of the screw, so that the scissors composed of the square aluminum tube 10 and the aluminum tube 11 is lifted and opened and closed to complete the lifting or falling of the lifting structure, and then drives the vertical movement of the top plate 9 of the lifting mechanism, the inventory module 16 can scan the magnetic strip of the goods through RFID, take pictures with a camera or scan codes to record the goods, and then record and upload data of the goods counted on the moving path through the communication module, and finally complete the inventory work of the goods on the three-dimensional shelf.

[0038] In summary, the utility model installs the inventory identification module 16 on the top plate 8 of the trolley lifting platform, relies on the mobile obstacle avoidance module to achieve free movement in the horizontal direction, and relies on the lifting module to achieve free movement in the vertical direction, thereby realizing the inventory module 16 to count the goods in different positions in the three-dimensional warehouse space, greatly reducing the workload of manual inventory and improving the efficiency of the warehouse's inventory work.

[0039] The above description is only the preferred embodiment of the present invention. For those skilled in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. An AGV trolley with a lifting platform for inventorying goods in a three-dimensional warehouse, used for inventorying goods in the warehouse, characterized in that: include: A mobile obstacle avoidance module is responsible for the horizontal movement of the AGV vehicle, the mobile obstacle avoidance module comprising a vehicle body (1), four corners of the vehicle body (1) are each equipped with universal wheels (4), a driving wheel (5) and a driving motor (6) connected to the driving wheel (5) are installed in the middle of the vehicle body (1); An inventory module (16) is used to inventory goods in the warehouse, the inventory module (16) comprising a camera, an RFID identification chip, a communication chip and a battery; The lifting module is responsible for the vertical movement of the palletizing module (16). The lifting module comprises a lifting mechanism bottom plate (8) and a lifting mechanism top plate (9). The lifting mechanism bottom plate (8) is hinged to the lifting mechanism top plate (9) through a scissor mechanism composed of square aluminum tubes (10) and aluminum tubes (11). The palletizing module (16) is installed on the top of the lifting mechanism top plate (9).

2. The AGV trolley for inventorying goods in a three-dimensional warehouse with a lifting platform according to claim 1 is characterized by: An electric control mounting plate (7) is arranged inside the vehicle body (1); the electric control mounting plate (7) has a threaded hole and is connected and fixed to the vehicle body (1) via a slider nut; a battery (27) and a control panel (28) are mounted on the electric control mounting plate (7); and laser obstacle avoidance radars (29) are mounted at both the front and rear ends of the vehicle body (1).

3. The AGV trolley for inventorying goods in a three-dimensional warehouse with a lifting platform according to claim 1 is characterized by: A motor (21) is mounted on the bottom plate (8) of the lifting mechanism. The motor (21) is connected to a screw rod (18) via a coupling (20). A screw nut is provided on the screw rod (18). The screw nut is connected to a moving shaft (25) via a moving shaft connecting plate (24). The moving shaft (25) moves on the screw rod (18), thereby driving the scissor structure composed of the square aluminum tube (10) and the aluminum tube (11) to open and close, thereby realizing the lifting function of the lifting module.

Images