Visual navigation AGV (Automatic Guided Vehicle) material carrying and three-dimensional warehouse automatic docking device

Abstract

The utility model discloses a visual navigation AGV material handling and three-dimensional warehouse automatic docking device which comprises an AGV trolley body, a top plate and a material carrying tray, the top plate and the material carrying tray are arranged above the AGV trolley body, a tray frame is connected in the top plate in a sliding mode, and a lifting assembly is arranged in the AGV trolley body. And anti-falling mechanisms are arranged on the front side and the rear side of the right end of the material carrying tray correspondingly. According to the visual navigation AGV material carrying and three-dimensional warehouse automatic butt joint device, the lifting assembly drives the top plate to conduct lifting adjustment at the upper end of the AGV trolley body, so that the top plate and the tray frame can be driven to be adjusted to the height corresponding to a material carrying tray, and the tray frame slides left and right in the top plate; the tray frame extends rightwards to receive the material carrying tray moved out of the three-dimensional warehouse, through the arrangement of the anti-falling mechanism, the material carrying tray and the tray frame can be limited, the material carrying tray is prevented from shaking or falling off from the tray frame in the transferring process, and the stability in the transferring process is improved.

Description

Technical Field

[0001] This utility model relates to the technical field of AGV automated warehouse docking, specifically a vision-guided AGV material handling and automated warehouse automatic docking device. Background Technology

[0002] AGV refers to Automated Guided Vehicle, which can travel along a prescribed guide path and has the function of transferring materials. It is widely used in industrial logistics and manufacturing. When AGV is handling materials, it needs to dock with the pallets carrying materials on the automated warehouse through a docking device.

[0003] However, existing docking devices are inconvenient to adjust their height according to the height of the pallet, and their positions are mostly fixed, making it inconvenient to extend the docking device from the top of the AGV to receive the pallet. Moreover, after the pallet is docked, it is easy for it to shake or even slip off the docking device, resulting in poor stability.

[0004] To address these issues, we propose a vision-guided AGV material handling and automated docking device for automated warehouses. Utility Model Content

[0005] The purpose of this utility model is to provide a visual navigation AGV material handling and automated warehouse docking device to solve the problems mentioned in the background art. These problems include the inconvenience of adjusting the height of the docking device according to the height of the pallet, the fixed position of the docking device, the inconvenience of extending the docking device from the top of the AGV to receive the pallet, and the instability caused by the easy shaking or even slippage between the pallet and the docking device after docking.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a vision-guided AGV material handling and automated warehouse docking device, comprising an AGV trolley body, a top plate disposed above the AGV trolley body, and a material carrying tray;

[0007] Also includes:

[0008] A tray frame is slidably connected to the top plate;

[0009] The lifting assembly is installed in the AGV body and consists of a movable block that moves left and right in the AGV body, a connecting bracket hinged to the upper end of the movable block, and a movable rod, a movable column and a protrusion installed at the inner edge of the AGV body.

[0010] The material tray is equipped with anti-detachment mechanisms on both the front and rear sides of the right end. The anti-detachment mechanism consists of a forward and reverse micro motor for driving, a movable stop block fixed to the output end of the forward and reverse micro motor, and a fixed plate fixed to the front and rear sides of the right end of the material tray.

[0011] Preferably, a servo motor for driving is installed at the right end of the AGV body, and a lead screw is fixedly connected to the output end of the servo motor. The servo motor drives the lead screw to rotate at the bottom of the AGV body.

[0012] Preferably, both ends of the lead screw are threaded with movable blocks, and the movable blocks and the linear guide rail fixed to the bottom of the AGV trolley body form a left-right sliding structure.

[0013] Meanwhile, the threads at the left and right ends of the lead screw are in opposite directions.

[0014] Preferably, the connecting bracket is hinged to the lower end of the top plate, and the lower edge of the top plate is provided with nested movable rods and movable columns. The movable rods are fixed to the lower edge of the top plate, and the movable columns are fixed to the inner edge of the AGV trolley body.

[0015] Preferably, the movable rod and the movable column form an up-and-down sliding structure, and a protrusion is fixedly connected to the side of the lower end of the movable rod, and the protrusion and the movable column form a sliding structure.

[0016] Preferably, both the front and rear ends of the bottom of the top plate are equipped with electric telescopic rods for driving, and the output end of the electric telescopic rods is connected to an auxiliary plate fixed to the lower right end of the pallet frame.

[0017] Preferably, the inner side of the pallet frame is provided with ball bearings, and the ball bearings are attached to the lower end of the material carrier pallet, and the material carrier pallet is engaged in the pallet frame.

[0018] Preferably, the right end of the material tray is fitted with a movable stop for limiting movement, and the movable stop is engaged in the fixed plate.

[0019] Compared with the prior art, the beneficial effects of this utility model are: the visual navigation AGV material handling and automated warehouse docking device, through the lifting component, drives the top plate to lift and adjust at the upper end of the AGV trolley body, thereby driving the top plate and pallet frame to adjust to the height corresponding to the material pallet. Moreover, combined with the pallet frame sliding left and right on the top plate, the pallet frame extends to the right to receive the material pallet moving out of the automated warehouse. Through the setting of the anti-detachment mechanism, the material pallet and the pallet frame can be limited to prevent the material pallet from shaking or detaching from the pallet frame during the transfer process, thus improving the stability during the transfer process.

[0020] 1. A lifting assembly is provided, which includes a movable block, a connecting bracket, a movable rod, a movable column, and a protrusion. By setting up the lifting assembly, the top plate can be lifted and lowered at the top of the AGV trolley body, and the height of the top plate and the pallet frame can be adjusted to the height corresponding to the pallet frame.

[0021] 2. It is equipped with an auxiliary plate and a pallet frame. The auxiliary plate drives the pallet frame to slide left and right with the top plate, thereby enabling the pallet frame to extend to the right to contact the material loading pallet on the automated warehouse.

[0022] 3. It is equipped with an anti-detachment component, which includes a forward and reverse micro motor, a movable stop, and a fixing plate. The anti-detachment component can limit the movement between the material tray and the tray frame, preventing shaking and detachment during the transfer process, thus ensuring high stability. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention in its lifting and extending states;

[0024] Figure 2 This is a schematic diagram of the overall structure of this utility model;

[0025] Figure 3 This is a schematic diagram of the structure of this utility model from below;

[0026] Figure 4 This is a frontal sectional view of the present invention.

[0027] Figure 5 This is a bottom view of the lead screw, movable block, linear guide rail, connecting bracket and top plate of this utility model;

[0028] Figure 6 This is a bottom view of the top plate, movable rod, movable column, and protrusion of this utility model;

[0029] Figure 7 This is a bottom view of the top plate and tray frame of this utility model;

[0030] Figure 8 This is a schematic diagram of the pallet frame, ball bearings, and material tray detachment structure of this utility model.

[0031] In the diagram: 1. AGV trolley body; 2. Servo motor; 3. Lead screw; 4. Movable block; 5. Linear guide rail; 6. Connecting bracket; 7. Top plate; 8. Movable rod; 9. Movable column; 10. Protrusion; 11. Electric telescopic rod; 12. Auxiliary plate; 13. Pallet frame; 14. Ball bearing; 15. Fixed plate; 16. Material pallet; 17. Forward and reverse micro motor; 18. Movable stop. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0033] Please see Figures 1-8 .

[0034] To address the problems of existing docking devices, such as inconvenience in adjusting the height of the docking device according to the height of the pallet, fixed positions of the docking devices making it difficult to extend the docking device from the top of the AGV to receive the pallet, and the tendency for the pallet to wobble or even slip off after docking, resulting in poor stability, this solution provides a vision-guided AGV material handling and automated warehouse docking device. The device comprises an AGV trolley body 1, a top plate 7 positioned above the AGV trolley body 1, and a material tray 16. A tray frame 13 is slidably connected to the top plate 7, and anti-detachment mechanisms are provided on both the front and rear sides of the right end of the material tray 16.

[0035] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, multiple vision-based navigation probes are installed on the outer side of the AGV body 1 to provide guidance for the AGV body 1. Vision-based navigation probes are a mature existing technology and will not be elaborated upon. When the AGV body 1 moves to the corresponding position of the material pallet 16 in the automated warehouse, a lifting assembly is installed within the AGV body 1. This lifting assembly consists of a movable block 4 that moves left and right within the AGV body 1, a connecting bracket 6 hinged to the upper end of the movable block 4, and movable rods 8, movable columns 9, and protrusions 10 located on the inner edge of the AGV body 1. The servo motor is then activated. The servo motor 2 drives the lead screw 3 to rotate in the AGV body 1. The lead screw 3 is threadedly connected to the movable block 4, which in turn drives the movable block 4 to slide between the linear guide rail 5. At this time, the movable block 4 rotates with the connecting bracket 6. The connecting bracket 6 rotates at the lower end of the top plate 7, which in turn drives the top plate 7 to rise and fall at the upper end of the AGV body 1. At the same time, the top plate 7 drives the movable rod 8 and the protrusion 10 to slide up and down with the movable column 9, which improves the stability of the top plate 7 during the lifting process, so that the top plate 7 and the pallet frame 13 move to the height position corresponding to the material pallet 16.

[0036] Then, the electric telescopic rod 11 installed at the lower end of the top plate 7 is activated. The electric telescopic rod 11 pushes the auxiliary plate 12 to move to the right, so that the auxiliary plate 12 drives the pallet frame 13 to slide between the top plate 7. The pallet frame 13 extends to the right, so as to better receive the connecting bracket 6. When the material pallet 16 on the automated warehouse moves to the pallet frame 13, the material pallet 16 contacts the ball bearing 14 and drives the ball bearing 14 to roll on the pallet frame 13, so that the material pallet 16 can be more smoothly locked in the pallet frame 13.

[0037] Then, combined with the anti-detachment mechanism, the anti-detachment mechanism consists of a forward and reverse micro motor 17 for driving, a movable stop 18 fixed at the output end of the forward and reverse micro motor 17, and a fixed plate 15 fixed on the front and rear sides of the right end of the material tray 16. The central processing unit controls the start of the forward and reverse micro motor 17, which drives the movable stop 18 to rotate and move by an angle, so that the movable stop 18 is engaged in the fixed plate 15 fixed on the right end of the material tray 16. At the same time, the movable stop 18 and the material tray 16 are fitted together, which facilitates the limiting of the material tray 16 and the tray frame 13, preventing the material tray 16 from shaking or falling off during the transfer process, and improving the stability of the material tray 16 during the transfer process.

[0038] Although 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 alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A vision-guided AGV material handling and automated docking device for automated warehouses, comprising an AGV trolley body (1), a top plate (7) disposed above the AGV trolley body (1), and a material carrier pallet (16); Its features are, Also includes: A tray frame (13) is slidably connected in the top plate (7); The lifting assembly is set in the AGV body (1) and consists of a movable block (4) that moves left and right in the AGV body (1), a connecting bracket (6) that is hinged to the upper end of the movable block (4), and a movable rod (8), a movable column (9) and a protrusion (10) set at the inner edge of the AGV body (1). The material tray (16) is provided with anti-detachment mechanisms on both the front and rear sides of the right end. The anti-detachment mechanism consists of a forward and reverse micro motor (17) for driving, a movable stop block (18) fixed at the output end of the forward and reverse micro motor (17), and a fixing plate (15) fixed on the front and rear sides of the right end of the material tray (16).

2. The visual navigation AGV material handling and automated warehouse docking device according to claim 1, characterized in that: The right end of the AGV body (1) is equipped with a servo motor (2) for driving, and the output end of the servo motor (2) is fixedly connected to a lead screw (3). The servo motor (2) drives the lead screw (3) to rotate at the bottom of the AGV body (1).

3. The visual navigation AGV material handling and automated warehouse docking device according to claim 2, characterized in that: Both ends of the lead screw (3) are threaded with movable blocks (4), and the movable blocks (4) and the linear guide rail (5) fixed at the bottom of the AGV trolley body (1) form a left-right sliding structure. Meanwhile, the threads at the left and right ends of the lead screw (3) are opposite.

4. The visual navigation AGV material handling and automated warehouse docking device according to claim 1, characterized in that: The connecting bracket (6) is hinged to the lower end of the top plate (7), and the lower edge of the top plate (7) is provided with mutually nested movable rods (8) and movable columns (9). The movable rods (8) are fixed at the lower edge of the top plate (7), and the movable columns (9) are fixed at the inner edge of the AGV trolley body (1).

5. The visual navigation AGV material handling and automated warehouse docking device according to claim 4, characterized in that: The movable rod (8) and the movable column (9) form an up-and-down sliding structure, and a protrusion (10) is fixedly connected to the side of the lower end of the movable rod (8), and the protrusion (10) and the movable column (9) form a sliding structure.

6. The visual navigation AGV material handling and automated warehouse docking device according to claim 4, characterized in that: The top plate (7) has electric telescopic rods (11) installed at both the front and rear ends of its bottom, and the output end of the electric telescopic rods (11) is connected to the auxiliary plate (12) fixed to the lower right end of the tray frame (13).

7. The visual navigation AGV material handling and automated warehouse docking device according to claim 6, characterized in that: The inner side of the pallet frame (13) is provided with ball bearings (14), and the ball bearings (14) are attached to the lower end of the material carrier (16), and the material carrier (16) is engaged in the pallet frame (13).

8. The visual navigation AGV material handling and automated warehouse docking device according to claim 7, characterized in that: The right end of the material tray (16) is fitted with a movable stop (18) for limiting the position, and the movable stop (18) is engaged in the fixed plate (15).

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