Simple multi-layer skip car for AMR automatic carrying

Abstract

The utility model discloses a simple multi-layer skip car for AMR automatic carrying. The simple multi-layer skip car comprises a main frame structure, a cargo carrying panel and trundle assemblies. The cargo carrying panels are sequentially installed on the main frame structure, and the trundle assemblies are installed at the bottom of the main frame structure. The main frame structure comprises X-direction square pipes located on the left side, the right side, the upper portion, the middle portion and the lower portion, Y-direction square pipes located at the front end, the rear end, the upper portion, the middle portion and the lower portion and Z-direction square pipes penetrating through the upper portion, the middle portion and the lower portion. The X-direction square tubes, the Y-direction square tubes and the Z-direction square tubes are spliced to form an upper-layer frame, a middle-layer frame and a lower-layer frame. According to the utility model, the butt joint of the automatic carrying scene, the mobile robot and the fixed goods shelf, especially the butt joint of the AMR and the multi-layer goods shelf can be realized; the butt joint efficiency of automatic carrying can be improved; the structure is simple, manufacturing is easy, and cost is low; an automatic positioning reference structure is adopted, so that laser radar identification and positioning are facilitated; a combined square tube matrix structure is arranged at the bottom of the cargo carrying face, and adaptation of a limiting device of the AMR docking mechanism is facilitated.

Description

Technical Field

[0001] The utility model relates to a material cart, in particular to a simple multi-layer material cart for AMR automatic handling. Background Art

[0002] With the continuous development of automated manufacturing, autonomous mobile robots have gradually become an emerging industry with rapid development in recent years.

[0003] As the competition in the mobile robot market in China becomes increasingly fierce, mobile robot-related enterprises need to continuously invest in technology research and development to maintain the leading and reliable nature of technology in order to cope with the complex competitive market; enhance their understanding of different industrial processes and scenarios in different industries, improve project delivery and service capabilities, and thus enhance their competitive barriers and industry reputation.

[0004] Despite the arduous development process of the mobile robot industry, as the development logic and certainty of the industry continue to increase, and with the continuous iteration and implementation of products, technologies and applications, the mobile robot market has started to enter a stage of rapid development. In current automated warehousing and transportation scenarios, the docking of mobile robots with shelves is a common scenario, and the main methods include bin robots, reach forklifts, high-stroke lifting and compound robots, etc. However, such equipment is often expensive and requires certain comprehensive qualities of operators. In ordinary enterprises mainly composed of production line workers, the utilization rate is often not high.

[0005] In automated handling docking equipment, conventional devices such as material carts, racks, cage carts, pallets, and material frames are used. During transportation, it is often necessary to limit or fix the equipment to be handled to prevent it from falling during transportation. Traditional above-mentioned equipment often focuses on structural stability and does not have a structure reserved for limiting, which makes it often necessary to customize the equipment to be handled during automated handling, and to perform secondary modification when docking with another automated handling equipment.

[0006] Therefore, with the continuous development of automated production and the improvement of requirements, there is an urgent need for new equipment with lower cost, flexible adaptation, and general stability and reliability. Content of the Utility Model

[0007] The technical problem to be solved by the utility model is to provide a simple multi-layer material cart for AMR automatic handling, to solve the docking between mobile robots and shelves, especially the docking between AMR and multi-layer shelves during the automatic handling process; the high cost of docking equipment for high-level shelves and multi-layer shelves; the need to additionally increase mechanical structure reference surfaces during precise positioning; and the problem that it is difficult to limit ordinary devices to be handled.

[0008] The simple multi-layer material cart for AMR automatic handling of the present utility model is realized through the following technical solutions: It includes a main frame structure, a loading panel, and a caster assembly;

[0009] The loading panel is sequentially installed on the main frame structure, and the caster assembly is installed at the bottom of the main frame structure;

[0010] The main frame structure includes X-direction square tubes located on the left and right sides and at the upper, middle, and lower parts, Y-direction square tubes at the front and rear ends and at the upper, middle, and lower parts, and Z-direction square tubes penetrating the upper, middle, and lower parts at the corners; Through the splicing of the X-direction square tubes, Y-direction square tubes, and Z-direction square tubes, an upper layer frame, a middle layer frame, and a lower layer frame are formed.

[0011] As a preferred technical solution, a square tube matrix composed of X-direction limit docking square tubes and Y-direction limit docking square tubes is distributed in the middle area of the lower layer frame;

[0012] Multiple first Y-direction load-bearing square tubes are arranged in the middle area of the middle layer frame; Multiple second Y-direction load-bearing square tubes are arranged in the middle area of the upper layer frame.

[0013] As a preferred technical solution, multiple loading panels are provided and are respectively installed above the X-direction square tubes and Y-direction square tubes of the upper layer frame, the middle layer frame, and the lower layer frame.

[0014] As a preferred technical solution, the caster assembly includes fixed wheels and swivel wheels;

[0015] The fixed wheels are installed on one side of the bottom of the main frame structure, and the swivel wheels are installed on the other side of the main frame structure; The manual moving device and the adjustment during docking are realized through the fixed wheels and the swivel wheels.

[0016] As a preferred technical solution, diagonal braces for reinforcement are provided between the Y-direction square tubes and Z-direction square tubes of the lower layer frame.

[0017] The beneficial effects of the present utility model are:

[0018] 1. In the scenario of automatic handling by mobile robots, when docking with high-level shelves and multi-layer shelves, it is often necessary to install a lifting mechanism with a large stroke on the mobile robot or use a material box robot with a high cost;

[0019] The multi-layer material cart device of the present utility model can achieve the same function as complex equipment in most cases through a simple method and low cost.

[0020] 2. In the scenario of mobile robots transporting goods or devices, limiting is often an essential link, and there is often a situation where it is difficult to limit the equipment to be transported;

[0021] The horizontal square tube matrix of the present utility model provides convenient and easily realizable conditions for limit adaptation, and can enhance the stability during the automatic transportation process.

[0022] 3. In the scenario of automatic handling and docking, precise positioning is often required, and precise positioning often requires auxiliary mechanical structures as the reference surface for radar scanning. The present utility model directly uses 4 vertical square tubes of the main frame structure of the material vehicle as the reference surface without the need to additionally increase mechanical structures.

[0023] 4. The present utility model can be used both as a docking device and as a transportation device within a small range, fully reflecting the flexibility of automated manufacturing. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 It is a schematic three-dimensional structure diagram of the present utility model;

[0026] Figure 2 It is a schematic three-dimensional structure diagram of the present utility model from the bottom-up perspective. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] All the features disclosed in this specification, or all the steps in the disclosed methods or processes, except for mutually exclusive features and / or steps, can be combined in any manner.

[0028] As Figure 1 shown, a simple multi-layer material vehicle for AMR automatic handling of the present utility model includes a main frame structure 1, a load-carrying panel 2, and a caster assembly;

[0029] The load-carrying panel 2 is sequentially installed on the main frame structure 1, and the caster assembly is installed at the bottom of the main frame structure 1;

[0030] The main frame structure 1 is mainly a frame structure composed of square tubes, divided into upper, middle, and lower layers, but not limited to three layers, and is the part of the entire device for support, force application, fixation, and limit docking;

[0031] The main body frame structure 1 includes X-direction square tubes 11 located on the left and right sides and at the upper, middle, and lower positions, Y-direction square tubes 12 located at the front and rear ends and at the upper, middle, and lower positions, and Z-direction square tubes 13 penetrating through the upper, middle, and lower positions at the corners; through the splicing of the X-direction square tubes 11, Y-direction square tubes 12, and Z-direction square tubes 13, an upper-layer frame, a middle-layer frame, and a lower-layer frame are formed.

[0032] As Figure 2 shown, a square tube matrix 15 composed of X-direction limit docking square tubes 151 and Y-direction limit docking square tubes 152 is distributed in the middle area of the lower-layer frame;

[0033] A plurality of first Y-direction load-bearing square tubes 16 are arranged in the middle area of the middle-layer frame; a plurality of second Y-direction load-bearing square tubes 17 are arranged in the middle area of the upper-layer frame.

[0034] In order to achieve the placement effect, in this embodiment, a plurality of cargo panels 2 are provided and are respectively installed above the X-direction square tubes 11 and Y-direction square tubes 12 of the upper-layer frame, middle-layer frame, and lower-layer frame, which are areas for placing goods; on the left and right sides and the rear end of each layer of cargo panel, there is a long strip-shaped guardrail 21 to prevent the goods from falling during transportation and docking; the front end of each layer of cargo panel is the direction for docking with the shelf, without a guardrail, which is conducive to the picking and placing movement of goods between the cargo panel and the shelf.

[0035] In addition, the caster assembly includes fixed wheels 3 and swivel wheels 4;

[0036] The fixed wheels 3 are installed on one side of the bottom of the main body frame structure 1, and the swivel wheels 4 are installed on the other side; the manual moving device and the adjustment during docking are realized through the fixed wheels 3 and the swivel wheels 4.

[0037] In addition, diagonal braces 14 for reinforcement are provided between the Y-direction square tubes 12 and Z-direction square tubes 13 of the lower-layer frame, and the Y-direction square tubes 12 and Z-direction square tubes 13 are stabilized through the diagonal braces.

[0038] The working principle is as follows:

[0039] The trolley device is mainly used as a device for placing goods during the automatic transportation of the AMR, and as a device for docking with the shelf, especially a multi-layer shelf; when delivering or picking up goods from a fixed shelf is required, the AMR reaches in front of the trolley through autonomous navigation, scans the parts of the 4 Z-direction square tubes of the trolley main body frame structure located below the lower layer of the cargo panel through the lidar, as a reference surface for positioning, and at the same time drives forward through the space below the lower cargo surface. During the driving process, the AMR continuously adjusts its own position and attitude according to the data fed back by scanning the 4 Z-direction square tubes through the lidar until it accurately docks at a specified position near the center of the trolley.

[0040] The AMR lifts the material truck through the lifting device. The lifting mechanism of the AMR contacts the square tube matrix on the lower layer of the main frame structure of the material truck. The AMR can design corresponding limit blocks to limit the material truck according to the shape of the square tube matrix. Since the square tube matrix consists of 4 X-direction limit docking square tubes and 4 Y-direction limit docking squares, as long as any group of X-direction limit docking square tubes and Y-direction limit docking square tubes in the square tube matrix are limited on the lifting mechanism of the AMR, the entire material truck can be limited. The AMR can set limit blocks at corresponding positions according to actual needs to limit the material truck during transportation, thereby increasing the stability during transportation;

[0041] When the AMR transports the material truck to the designated shelf position, the lifting mechanism of the AMR lowers the material truck to ensure that the front of the material truck is docked with the shelf. The AMR exits from below the material truck. During the exit process, it also scans the part of the 4 Z-direction square tubes of the main frame structure located below the lower layer of the cargo panel through the lidar, and continuously adjusts its position and attitude after receiving the radar feedback data to ensure that the AMR exits normally outside the material truck;

[0042] The shelf worker manually adjusts the position of the material truck. After ensuring that the material truck is aligned with each layer of the shelf, the goods of the material truck are moved to the shelf, or the goods of the shelf are moved to the material truck (note that the number of layers of the material truck and the height of each layer can be adjusted according to the actual needs of the shelf). When the worker completes loading or unloading, the AMR can be notified to come and transport the material truck, or the material truck can be manually pushed to the designated position. Especially in the unloading link, manually pushing the empty material truck to the designated position can reduce the complexity of the automatic transportation plan and will not increase too much manpower consumption.

[0043] The utility model can realize the transportation of goods and the docking with the shelf during the automatic transportation process of the AMR, and has the advantages of simple structure, flexible assembly and low cost; it is particularly suitable for scenarios where the shelf specifications are relatively unified, the types and quantities of transported goods are large, the shelf is a multi-layer structure, and the cost of automation transformation is not high;

[0044] The horizontal square tube matrix at the bottom of the material truck can be flexibly adapted to the lifting mechanism of the AMR for limiting; the vertical square tubes at the bottom of the material truck can be used for the AMR to perform precise positioning; under the condition that the design and manufacturing costs are greatly reduced, the accuracy of docking and the stability of operation are not affected; and the material truck itself is a movable device, and can be flexibly adjusted manually according to the on-site situation during the warehousing docking process, fully reflecting the flexibility of automated operations.

[0045] The utility model can realize the automatic handling scenario and the docking between the mobile robot and the fixed shelf, especially the docking between the AMR and the multi-layer shelf; it can improve the docking efficiency of automatic handling; it has a simple structure, is easy to manufacture, and has a low cost; it has an automatic positioning reference structure, which is conducive to the identification and positioning of the lidar; the bottom of the cargo-carrying surface has a combined square tube matrix structure, which is conducive to the adaptation of the limit device of the AMR docking mechanism.

[0046] The above is only the specific implementation manner of the utility model, but the protection scope of the utility model is not limited thereto. Any change or replacement that can be thought of without creative work should be covered within the protection scope of the utility model. Therefore, the protection scope of the utility model should be subject to the protection scope defined by the claims.

Claims

1. A simple multi-layer material cart for AMR automatic handling, characterized by: It comprises a main frame structure (1), a cargo panel (2) and a caster assembly; The cargo panel (2) is sequentially mounted on the main frame structure (1), and the caster assembly is mounted on the bottom of the main frame structure (1); The main frame structure (1) comprises X-direction square tubes (11) located at the left and right sides and the top, middle and bottom, Y-direction square tubes (12) at the front and rear ends and the top, middle and bottom, and Z-direction square tubes (13) penetrating the top, middle and bottom at the corners; an upper frame, a middle frame and a lower frame are formed by splicing the X-direction square tubes (11), the Y-direction square tubes (12) and the Z-direction square tubes (13); A square tube matrix (15) consisting of X-direction limit-joint square tubes (151) and Y-direction limit-joint square tubes (152) is distributed in the middle area of ​​the lower frame; A plurality of first Y-direction load-bearing square tubes (16) are arranged in the middle area of ​​the middle frame; a plurality of second Y-direction load-bearing square tubes (17) are arranged in the middle area of ​​the upper frame; Diagonal braces (14) for reinforcement are provided between the Y-direction square tubes (12) and the Z-direction square tubes (13) of the lower frame.

2. The simple multi-layer material cart for AMR automatic handling according to claim 1 is characterized in that: The cargo loading panels (2) are provided in plurality and are respectively installed above the X-direction square tubes (11) and the Y-direction square tubes (12) of the upper frame, the middle frame and the lower frame.

3. The simple multi-layer material cart for AMR automatic handling according to claim 1 is characterized in that: The caster assembly comprises a fixed wheel (3) and a universal wheel (4); The directional wheel (3) is installed on one side of the bottom of the main frame structure (1), and the universal wheel (4) is installed on the other side of the main frame structure (1); the directional wheel (3) and the universal wheel (4) are used to realize the manual movement of the device and the adjustment during docking.

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