Transfer type stacking AGV (Automatic Guided Vehicle)

Abstract

The utility model belongs to the technical field of stacking, and particularly discloses a transfer type stacking AGV which is characterized in that the transfer type stacking AGV comprises a chassis, a control cabinet is installed on the right side of the upper surface of the chassis, a storage battery is installed on the left side of the upper surface of the chassis, a lifting portal frame system is fixedly installed above the chassis and located between the control cabinet and the storage battery, and the control cabinet is connected with the storage battery. A lifting table is installed in the lifting portal frame system in a sliding mode, and a tray is placed on the lifting table. The chassis is of a U-shaped structure, the middle conveying bearing area is low, and handover operation can be conducted with a low operation table. A lifting portal system is arranged, the AGV goods lifting height is greatly increased, goods can be directly placed on a high-position goods shelf, intermediate links are reduced, and the overall rhythm is improved. An SLAM laser navigation mode is adopted, laser obstacle avoidance and two-dimensional code auxiliary positioning are matched, multiple positioning modes are combined, and the overall operation precision of the AGV is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of stacking, in particular to a transfer type stacking AGV. Background Art

[0002] AGVs are battery-powered, autonomous industrial vehicles. They work in conjunction with automated guidance systems, automated loading and unloading systems, communications systems, safety systems, and management systems to automate the loading, unloading, and transportation of materials. By connecting to intelligent devices such as warehousing systems and production equipment, AGVs enable efficient material handling and collaborative operations. Furthermore, AGVs can seamlessly interact with personnel, enabling human-machine collaboration and improving work efficiency and safety. This enhanced collaborative and interactive capability will usher in the era of smart logistics.

[0003] Most existing AGVs are flatbed, lurking vehicles equipped with a lifting mechanism to lift and transport target cargo. However, due to vehicle height limitations, the cargo must be high enough for the AGV to maneuver underneath it. Furthermore, the lifting height is relatively low, making it difficult to lift large amounts of cargo. Furthermore, these AGVs often rely on a single positioning method, resulting in low accuracy and requiring the addition of auxiliary positioning devices at the docking point, increasing equipment costs. Utility Model Content

[0004] The purpose of the present invention is to provide a transfer and stacking AGV to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present utility model provides the following technical solution: a transfer and stacking AGV, characterized in that it comprises: a chassis;

[0006] A control cabinet is installed on the right side of the upper surface of the chassis, a battery is installed on the left side of the upper surface of the chassis, a lifting gantry system is fixedly installed above the chassis, the lifting gantry system is located between the control cabinet and the battery, a lifting platform is slidably installed in the lifting gantry system, and a pallet is placed on the lifting platform.

[0007] Preferably, the chassis includes a vehicle body, the four corners of the lower part of the vehicle body are rotatably mounted with walking wheels, the sides of the vehicle body are mounted with safety obstacle avoidance sensors, a code reader is mounted in the middle position of the left and right sides of the lower surface of the vehicle body, and two rows of auxiliary support wheels are mounted on the lower surface of the vehicle body.

[0008] Preferably, the lifting gantry system includes a gantry, a SLAM laser sensor is installed in the middle position of the top of the gantry, a sprocket 1 is installed on the top of the gantry, a chain 1 is mounted on the sprocket 1, the other end of the chain 1 is mounted on the sprocket 2, a lifting transmission shaft is installed on the sprocket 2, a sprocket 3 is installed in the middle of the lifting transmission shaft, a chain 2 is mounted on the sprocket 3, the other end of the chain 2 is mounted on the sprocket 4, the sprocket 4 is mounted on the output shaft of the lifting motor, and the lifting motor is installed under the vehicle body.

[0009] Preferably, the lifting platform includes a lifting frame, which is connected to the chain 1, and a chain conveyor frame is installed on the lifting frame, and 5 sets of sprockets 5 are installed on the chain conveyor frame. The sprocket 5 located below is installed with a rotating shaft, and a coupling is mounted on the rotating shaft. The other end of the coupling is connected to the output shaft of the conveying motor, and the sprocket 5 is connected through a chain 3. A block for traction is installed on the chain 3, and the block cooperates with the groove on the pallet. Load-bearing brackets are installed on both sides of the lifting frame, and guide wheels are installed on the load-bearing brackets for guiding the pallet.

[0010] Compared with the prior art, the beneficial effects of the present invention are:

[0011] The chassis has a U-shaped structure, and the middle conveying load-bearing area is low, which can be used for handover operations with a lower operating platform.

[0012] Equipped with a lifting gantry system, the AGV cargo lifting height is greatly increased, and the cargo can be placed directly on the high-level shelves, reducing intermediate links and improving the overall beat.

[0013] The SLAM laser navigation method is adopted, combined with laser obstacle avoidance and QR code assisted positioning, and multiple positioning methods are combined to improve the overall operation accuracy of the AGV. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the overall structure of AGV;

[0015] Figure 2 This is a schematic diagram of the AGV chassis structure;

[0016] Figure 3 This is a schematic diagram of the AGV gantry structure

[0017] Figure 4 This is a schematic diagram of the AGV lifting platform structure;

[0018] Figure 5 This is a schematic diagram of the connection structure between the lifting gantry system and the lifting platform;

[0019] Figure 6 It is a structural diagram of the lifting platform conveying system;

[0020] Figure 7 This is a schematic diagram of the coordination between the conveying system and the pallet.

[0021] In the figure: 1. Chassis; 1-1. Vehicle body; 1-2. Travel wheel; 1-3. Safety obstacle avoidance sensor; 1-4. Code reader; 1-5. Support wheel; 2. Lifting gantry system; 2-1. Gantry; 2-2. SLAM laser sensor; 2-3. Sprocket 1; 2-4. Chain 1; 2-5. Sprocket 2; 2-6. Lifting drive shaft; 2-7. Sprocket 3; 2-8. Chain 2; 2-9. Sprocket 4; 2-10. Lifting motor; 3. Lifting platform; 3-1. Lifting frame; 3-2. Chain conveyor frame; 3-3. Sprocket 5; 3-4. Rotating shaft; 3-5. Coupling; 3-6. Conveying motor; 3-7. Chain 3; 3-8. Stop block; 3-9. Load-bearing bracket; 3-10. Guide wheel; 4. Control cabinet; 5. Battery; 6. Pallet. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, 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 efforts are within the scope of protection of the present invention.

[0023] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0024] Example 1:

[0025] See also Figure 1-7 The utility model provides a technical solution: a transfer type stacking AGV, comprising:

[0026] A chassis 1, a control cabinet 4 is mounted on the right side of the upper surface of the chassis 1, a battery 5 is mounted on the left side of the upper surface of the chassis 1, a lifting gantry system 2 is fixedly mounted above the chassis 1, the lifting gantry system 2 is located between the control cabinet 4 and the battery 5, a lifting platform 3 is slidably mounted within the lifting gantry system 2, and a tray 6 is placed on the lifting platform 3;

[0027] The chassis 1 includes a vehicle body 1-1, with running wheels 1-2 rotatably mounted at the four corners below the vehicle body 1-1, safety obstacle avoidance sensors 1-3 mounted on the sides of the vehicle body 1-1, a code reader 1-4 mounted in the middle of the left and right sides of the lower surface of the vehicle body 1-1, and two rows of auxiliary support wheels 1-5 mounted on the lower surface of the vehicle body 1-1;

[0028] The lifting gantry system 2 includes a gantry 2-1, a SLAM laser sensor 2-2 is installed in the middle of the top of the gantry 2-1, a sprocket 12-3 is installed on the top of the gantry, a chain 12-4 is sleeved on the sprocket 12-3, the other end of the chain 12-4 is sleeved on the sprocket 22-5, a lifting transmission shaft 2-6 is installed on the sprocket 22-5, a sprocket 32-7 is installed in the middle of the lifting transmission shaft 2-6, a chain 22-8 is sleeved on the sprocket 32-7, the other end of the chain 22-8 is sleeved on the sprocket 42-9, the sprocket 42-9 is sleeved on the output shaft of the lifting motor 2-10, and the lifting motor 2-10 is installed below the vehicle body 1-1;

[0029] The lifting platform 3 includes a lifting frame 3-1, which is connected to the chain 12-4. A chain conveyor frame 3-2 is installed on the lifting frame 3-1, and five groups of sprockets 53-3 are installed on the chain conveyor frame 3-2. The sprocket 53-3 located at the bottom is installed with a rotating shaft 3-4, and a coupling 3-5 is mounted on the rotating shaft 3-4. The other end of the coupling 3-5 is connected to the output shaft of the conveying motor 3-6. The sprocket 53-3 is connected through a chain 33-7. A block 3-8 for traction is installed on the chain 33-7. The block 3-8 cooperates with the groove on the pallet 6. Load-bearing brackets 3-9 are installed on both sides of the lifting frame 3-1, and guide wheels 3-10 are installed on the load-bearing brackets 3-9 for guiding the pallet 6.

[0030] Specifically, when the AGV has a warehousing task, the AGV is required to transport the cargo pallet 6 from the warehousing area to the designated storage location of the shelf. The walking wheels 1-2 move to drive the AGV to the warehousing area; at the same time, the lifting motors 2-10 run to lift the lifting platform 3 to the warehousing height.

[0031] After the AGV arrives at the storage position, the conveying motor 3-6 starts running, driving the rotating shaft 3-4 to rotate through the coupling 3-5. The rotation of the rotating shaft 3-4 drives the sprocket 53-3 to rotate. The rotation of the sprocket 53-3 drives the chain 33-7 to move. When the stopper 3-8 installed on the chain 33-7 moves into the groove of the pallet 6, the movement of the chain 33-7 is transmitted to the pallet 6 through the cooperation between the stopper 3-8 and the groove on the pallet 6, thereby driving the pallet 6 to move continuously until it completely enters the lifting platform 3.

[0032] After the pallet 6 enters the lifting platform 3, the AGV walking wheels 1-2 run to drive the AGV to the target storage location. At the same time, the lifting motor 2-10 runs to lift the lifting platform 3 with the goods to the target storage location height.

[0033] After the AGV arrives at the storage location, the conveying motor 3-6 starts running, driving the shaft 3-4 to rotate through the coupling 3-5. The rotation of the shaft 3-4 drives the sprocket 53-3 to rotate. The rotation of the sprocket 53-3 drives the chain 33-7 to move. The movement of the chain 33-7 is transmitted to the pallet 6 through the cooperation of the block 3-8 and the groove on the pallet 6, thereby driving the pallet 6 to move until the goods completely enter the target storage location.

[0034] When the AGV has an outbound task, it needs to transport the cargo pallet 6 from the warehouse to the outbound area. The walking wheels 1-2 move to drive the AGV to the outbound storage location; at the same time, the lifting motor 2-10 runs to lift the lifting platform 3 to the outbound storage location height.

[0035] After the AGV arrives at the outbound storage location, the conveying motor 3-6 starts running, driving the rotating shaft 3-4 to rotate through the coupling 3-5. The rotation of the rotating shaft 3-4 drives the sprocket 53-3 to rotate. The rotation of the sprocket 53-3 drives the chain 33-7 to move. When the stopper 3-8 installed on the chain 33-7 moves into the groove of the pallet 6, the movement of the chain 33-7 is transmitted to the pallet 6 through the cooperation between the stopper 3-8 and the groove on the pallet 6, thereby driving the pallet 6 to move continuously until it completely enters the lifting platform 3.

[0036] After the pallet 6 enters the lifting platform 3, the AGV walking wheel 1-2 runs, driving the AGV to the outbound area, and at the same time the lifting motor 2-10 runs to lift the lifting platform 3 with the goods to the outbound height.

[0037] After the AGV reaches the outbound position, the conveying motor 3-6 starts running, driving the rotating shaft 3-4 to rotate through the coupling 3-5. The rotation of the rotating shaft 3-4 drives the sprocket 53-3 to rotate. The rotation of the sprocket 53-3 drives the chain 33-7 to move. The movement of the chain 33-7 is transmitted to the pallet 6 through the cooperation of the block 3-8 and the groove on the pallet 6, thereby driving the pallet 6 to move until the goods completely enter the outbound area.

[0038] During the AGV's driving process, the SLAM laser sensor 2-2 monitors the AGV's position in real time, and the safety obstacle avoidance sensor 1-3 monitors obstacles in the driving area in real time to ensure driving safety. After reaching the designated position, the code reader 1-4 reads the location code of the target position, corrects the AGV's posture, and achieves precise positioning of the AGV.

[0039] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention; therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is limited by the appended claims rather than the above description. Therefore, it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any figure marks in the claims should not be regarded as limiting the claims involved.

[0040] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A transfer stacking AGV, characterized in that: include: chassis (1); A control cabinet (4) is installed on the right side of the upper surface of the chassis (1), a battery (5) is installed on the left side of the upper surface of the chassis (1), a lifting gantry system (2) is fixedly installed above the chassis (1), the lifting gantry system (2) is located between the control cabinet (4) and the battery (5), a lifting platform (3) is slidably installed in the lifting gantry system (2), and a tray (6) is placed on the lifting platform (3).

2. The transfer and stacking AGV according to claim 1, characterized in that: The chassis (1) includes a vehicle body (1-1), four corners of the lower portion of the vehicle body (1-1) are rotatably mounted with running wheels (1-2), safety obstacle avoidance sensors (1-3) are mounted on the sides of the vehicle body (1-1), code readers (1-4) are mounted in the middle of the left and right sides of the lower surface of the vehicle body (1-1), and two rows of auxiliary support wheels (1-5) are mounted on the lower surface of the vehicle body (1-1).

3. The transfer and stacking AGV according to claim 2, characterized in that: The lifting gantry system (2) includes a gantry (2-1), a SLAM laser sensor (2-2) is installed at the middle position of the top of the gantry (2-1), a sprocket 1 (2-3) is installed on the top of the gantry, a chain 1 (2-4) is sleeved on the sprocket 1 (2-3), the other end of the chain 1 (2-4) is sleeved on the sprocket 2 (2-5), a lifting transmission shaft (2-6) is installed on the sprocket 2 (2-5), a sprocket 3 (2-7) is installed in the middle of the lifting transmission shaft (2-6), a chain 2 (2-8) is sleeved on the sprocket 3 (2-7), the other end of the chain 2 (2-8) is sleeved on the sprocket 4 (2-9), the sprocket 4 (2-9) is sleeved on the output shaft of the lifting motor (2-10), and the lifting motor (2-10) is installed below the vehicle body (1-1).

4. The transfer and stacking AGV according to claim 3, characterized in that: The lifting platform (3) includes a lifting frame (3-1), the lifting frame (3-1) is connected to the chain 1 (2-4), a chain conveyor frame (3-2) is installed on the lifting frame (3-1), five groups of sprockets 5 (3-3) are installed on the chain conveyor frame (3-2), a rotating shaft (3-4) is installed on the sprocket 5 (3-3) located at the bottom, a coupling (3-5) is sleeved on the rotating shaft (3-4), and the coupling (3-5) is installed on the chain conveyor frame (3-2). 5) The other end is connected to the output shaft of the conveying motor (3-6), the sprocket 5 (3-3) is connected through the chain 3 (3-7), the chain 3 (3-7) is equipped with a stopper (3-8) for traction, the stopper (3-8) cooperates with the groove on the pallet (6), and the lifting frame (3-1) is equipped with a bearing bracket (3-9) on both sides, and the bearing bracket (3-9) is equipped with a guide wheel (3-10) for guiding the pallet (6).

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