High-amplitude AGV (Automatic Guided Vehicle) goods picking and placing device

Abstract

The utility model relates to a high-amplitude AGV (Automatic Guided Vehicle) goods picking and placing device, which comprises a traveling mechanism, the shear fork jacking mechanism comprises a lifting base installed on the vehicle body chassis, a shear fork assembly installed on the lifting base, a lifting platform installed at the end, away from the lifting base, of the shear fork assembly, and a first driving assembly used for driving the shear fork assembly to stretch out and draw back; the translation conveying mechanism comprises a conveying roller mounted on the lifting platform, a belt connected to the conveying roller in a sleeving manner, and a second driving assembly for driving the conveying roller to rotate; the first detection mechanism comprises a first displacement sensor mounted at the opening end of the translation conveying mechanism and a second displacement sensor mounted in the middle of the translation conveying mechanism; the second detection mechanism is arranged on one side of the lifting platform; according to the AGV lifting mechanism, automatic and accurate goods taking, conveying and placing operation is achieved, and the AGV lifting stability and rigidity are good.

Description

Technical Field

[0001] This utility model belongs to the field of automated warehousing and logistics technology, and in particular relates to a high-amplitude AGV picking and placing device. Background Technology

[0002] Automated Guided Vehicles (AGVs) are transport vehicles equipped with electromagnetic or optical automatic guidance devices that enable them to travel along a prescribed guidance path and have safety protection and various transfer functions.

[0003] Currently, due to its structural characteristics, AGV has the following shortcomings in actual use: 1. For materials of various specifications, the positioning accuracy of AGV is poor when docking, and deviations are inevitable during the picking and placing of goods, which can easily cause materials to tilt or even fall; 2. AGV has a small and compact space for lifting and conveying, and its stability is insufficient when it is carrying goods with a large lifting stroke; This technical problem urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] In view of the above-mentioned shortcomings of the existing technology, the purpose of this utility model is to provide a high-amplitude AGV picking and placing device to realize autonomous and precise picking, conveying and placing operations, automated operation, and improve the intelligence level of warehousing and logistics.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A high-amplitude AGV picking and placing device includes:

[0007] The walking mechanism includes a vehicle chassis on which a wheel assembly is mounted for driving the AGV to move;

[0008] The scissor lift mechanism includes a lifting base mounted on the vehicle chassis, a scissor assembly mounted on the lifting base, a lifting platform mounted on the end of the scissor assembly away from the lifting base, and a first drive assembly for driving the extension and retraction of the scissor assembly, wherein the lifting platform is arranged parallel to the lifting base.

[0009] The translational conveying mechanism includes a conveyor roller mounted on the lifting platform, a belt sleeved on the conveyor roller, and a second drive assembly for driving the conveyor roller to rotate.

[0010] The first detection mechanism, which is arranged along the conveying direction of the belt, includes a first displacement sensor installed at the opening end of the translational conveying mechanism and a second displacement sensor installed in the middle of the translational conveying mechanism.

[0011] The second inspection unit is a laser scanner, which is located on one side of the lifting platform.

[0012] In a preferred embodiment of the present invention, the scissor lift assembly includes a first folding arm and a second folding arm that are hinged to each other, one end of the first folding arm being hinged to the lifting base and the other end being hinged to the lifting platform;

[0013] One end of the second folding arm is slidably connected to the first slide rail mounted on the lifting base, and the other end is slidably connected to the second slide rail mounted on the lifting platform;

[0014] The scissor lift assembly is arranged in two sets along the width direction of the lifting base. A first guide rod is hinged between the two first folding arms, and a second guide rod is hinged between the two second folding arms.

[0015] In a preferred embodiment of the present invention, the first drive assembly includes a first drive motor mounted on a lifting base, a lead screw mounted on the output end of the first drive motor, and a lead screw nut rotatably mounted on the lead screw. The second guide rod passes through the lead screw nut and is fixedly connected to the lead screw nut.

[0016] In a preferred embodiment of the present invention, a protective cover is installed on the lifting platform on both sides of the belt, and the second drive component is installed inside the protective cover;

[0017] An opening slot is provided on the side of the protective cover facing the belt. The first detection mechanism is installed inside the protective cover, and the opening slot is arranged corresponding to the first displacement sensor and the second displacement sensor respectively.

[0018] The beneficial effects of this utility model are:

[0019] This utility model discloses a high-amplitude AGV picking and placing device, which coordinates the work of the walking mechanism, scissor lifting mechanism and translation conveying mechanism through the control system to realize the automatic picking, conveying and placing of goods, automated operation, reduced labor costs and improved the intelligence level of warehousing and logistics.

[0020] This invention utilizes a dual detection mechanism of laser scanner and displacement sensor to achieve precise positioning and correction of goods during the picking, transporting and placing processes, ensuring that goods can accurately reach the designated location.

[0021] This utility model designs a scissor lift assembly with guide rods installed between the folding arms to ensure that the relative positions and motion relationships between the various components of the AGV remain constant during the lifting process, thereby enhancing its stability and rigidity;

[0022] This utility model of a high-amplitude AGV picking and placing device realizes fully automated operation from task reception, walking, picking up, conveying, placing to resetting, reducing manual intervention and improving logistics efficiency. Attached Figure Description

[0023] Figure 1 A schematic diagram of the structure of a high-amplitude AGV picking and placing device provided by this utility model;

[0024] Figure 2 A front view of a high-amplitude AGV picking and placing device provided by this utility model;

[0025] Figure 3 A partial front view of a high-amplitude AGV loading and unloading device provided by this utility model;

[0026] Figure 4 This is a schematic diagram of the translational conveying mechanism described in this utility model. Figure 1 ;

[0027] Figure 5 This is a schematic diagram of the translational conveying mechanism described in this utility model. Figure 2 ;

[0028] Figure 6 This is a schematic diagram of the scissor lift mechanism described in this utility model. Figure 1 ;

[0029] Figure 7 This is a schematic diagram of the scissor lift mechanism described in this utility model. Figure 2 ;

[0030] Figure 8 This is a schematic diagram of the scissor lift mechanism described in this utility model. Figure 3 .

[0031] In the diagram: 1. Walking mechanism; 11. Vehicle chassis; 12. Drive wheel assembly; 13. Driven wheel assembly; 14. Shock absorption assembly.

[0032] 2. Scissor lift mechanism, 21. Lifting base, 22. Scissor assembly, 221. First folding arm, 222. Second folding arm, 223. First guide rod, 224. Second guide rod, 23. Lifting platform, 24. First drive assembly, 241. First drive motor, 242. Lead screw, 243. Nut.

[0033] 3. Translational conveying mechanism; 31. Conveying roller; 32. Belt; 33. Second drive assembly;

[0034] 4 First detection mechanism, 41 First displacement sensor, 42 Second displacement sensor;

[0035] 5. Second testing agency. Detailed Implementation

[0036] 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.

[0037] like Figure 1-5 As shown, this utility model provides a high-amplitude AGV loading and unloading device, comprising:

[0038] The walking mechanism 1 includes a chassis 11, on which a wheel assembly is mounted for driving the AGV to move.

[0039] The aforementioned wheel assembly includes a drive wheel component 12 and a driven wheel component 13 mounted on the vehicle chassis 11, and a shock-absorbing component 14 is installed between the vehicle chassis 11 and the drive wheel component 12;

[0040] The AGV picking and placing device moves through the walking mechanism 1. The drive wheel component 12 and driven wheel component 13 on the chassis 11 work together to drive the AGV to the designated picking or placing position. The shock absorption component 14 plays a buffering role during the journey, reducing the impact of uneven road surface on the stability of the AGV.

[0041] The scissor lift mechanism 2 includes a lifting base 21 mounted on the vehicle chassis 11, a scissor assembly 22 mounted on the lifting base 21, a lifting platform 23 mounted on the end of the scissor assembly 22 away from the lifting base 21, and a first drive assembly 24 for driving the extension and retraction of the scissor assembly 22. The lifting platform 23 is arranged parallel to the lifting base 21.

[0042] When the AGV picking and placing device reaches the designated position, the scissor lifting mechanism 2 is activated, and the first drive component 24 drives the scissor component 22 to extend and retract, so that the lifting platform 23 rises or falls to a suitable height. The lifting platform 23 is parallel to the lifting base 21 to ensure that the goods remain stable during the lifting process.

[0043] The translational conveying mechanism 3 includes a conveying roller 31 mounted on the lifting platform 23, a belt 32 sleeved on the conveying roller 31, and a second drive assembly 33 for driving the conveying roller 31 to rotate.

[0044] After the lifting platform 23 reaches the appropriate height, the translation conveyor 3 starts to work. The second drive component 33 drives the conveyor roller 31 to rotate, which drives the belt 32 to move, realizing the horizontal conveying of goods. Goods are conveyed onto or unloaded from the belt 32.

[0045] The second drive assembly 33 is configured as a second drive motor. The output end of the second drive motor is connected to the conveyor roller 31 via belt drive to realize the rotation of the conveyor roller 31, thereby driving the belt 32 to rotate.

[0046] The first detection mechanism 4 is arranged along the conveying direction of the belt 32, including a first displacement sensor 41 installed at the open end of the translational conveying mechanism 3, and a second displacement sensor 42 installed in the middle of the translational conveying mechanism 3.

[0047] The first detection mechanism 4 and the second detection mechanism 5 are used for the detection and positioning of goods. The first displacement sensor 41 and the second displacement sensor 42 are arranged along the conveying direction of the belt 32 to detect the position and moving distance of the goods, so as to ensure that the goods are accurately delivered to the correct position.

[0048] The second testing unit 5 is a laser scanner, which is placed on one side of the lifting platform 23 to assist the lifting platform 23 in being lifted into place.

[0049] The AGV picking and placing device of this utility model coordinates the work of the walking mechanism 1, the scissor lifting mechanism 2, the translation conveying mechanism 3, the first detection mechanism 4 and the second detection mechanism 5 through the control system, so as to realize the automatic picking, conveying and placing of goods, automated operation, reduce labor costs and improve the level of intelligence of warehousing and logistics.

[0050] In one embodiment,

[0051] like Figure 6-7 As shown, the scissor lift assembly 22 includes a first folding arm 221 and a second folding arm 222 that are hinged to each other. One end of the first folding arm 221 is hinged to the lifting base 21 and the other end is hinged to the lifting platform 23, which serves to support and transmit force.

[0052] One end of the second folding arm 222 is slidably connected to the first slide rail installed on the lifting base 21, and the other end is slidably connected to the second slide rail installed on the lifting platform 23. This sliding connection method allows the second folding arm 222 to move smoothly along the slide rail during the extension and retraction process, avoiding jamming and deviation during the movement.

[0053] The aforementioned scissor lift assembly 22 is arranged in two sets side by side along the width direction of the lifting base 21. A first guide rod 223 is hinged between the two first folding arms 221, and a second guide rod 224 is hinged between the two second folding arms 222. The arrangement of the first guide rod 223 and the second guide rod 224 further enhances the stability and rigidity of the scissor lift assembly 22, ensuring that the relative position and movement relationship between the components remain accurate during the lifting process.

[0054] In one embodiment,

[0055] like Figure 8As shown, the first drive assembly 24 includes a first drive motor 241 mounted on the lifting base 21, a lead screw 242 mounted on the output end of the first drive motor 241, and a lead screw nut 243 rotatably mounted on the lead screw 242. The second guide rod 224 passes through the lead screw nut 243 and is fixedly connected to the lead screw nut 243.

[0056] When the first drive motor 241 of this utility model is started, the lead screw 242 at its output end rotates. The rotation of the lead screw 242 drives the lead screw nut 243 to move along the axial direction of the lead screw 242. Since the second guide rod 224 is fixedly connected to the lead screw nut 243, the movement of the lead screw nut 243 drives the second guide rod 224 to move back and forth. The movement of the second guide rod 224 further drives the extension and retraction of the scissor lift assembly 22, thereby realizing the raising or lowering of the lifting platform 23.

[0057] The transmission method of lead screw 242 and lead nut 243 can achieve high-precision position control, improve the positioning accuracy of picking up and placing goods, and occupy little space. It can be well integrated into the lifting base 21, improving the space utilization of AGV.

[0058] In one embodiment,

[0059] Protective covers are installed on the lifting platforms 23 on both sides of the belt 32, and the second drive assembly 33 is installed inside the protective cover to form a semi-enclosed protective space.

[0060] An opening slot is provided on the side of the protective cover facing the belt 32. The first detection mechanism 4 is installed inside the protective cover, and the opening slot is arranged to correspond to the first displacement sensor 41 and the second displacement sensor 42 respectively, so that the displacement sensor can detect the position of the goods on the belt 32 through the opening slot.

[0061] By installing protective covers on the lifting platforms 23 on both sides of the belt 32 and integrating the second drive assembly 33 and the first detection mechanism 4 into the protective covers, the detection accuracy, operational stability and safety of the entire high-amplitude AGV picking and placing device are improved, and the service life of the translation conveying mechanism 3 is increased.

[0062] The specific operation method of the AGV picking and placing device is as follows: the cloud platform sends the target location data instruction to the AGV picking device, and the AGV moves automatically through the walking mechanism 1.

[0063] The AGV picking and placing device drives into the picking position, and the aforementioned scissor lift mechanism 2 drives the second detection mechanism 5 to move to the preset position along the horizontal plane where the translation conveyor mechanism 3 is located.

[0064] When the laser scanner detects the preset position, the scissor lift mechanism 2 controls the translation conveyor mechanism 3 to lift to the same height as the picking position, and drives the belt 32 to rotate and pick up the goods in sequence;

[0065] The AGV loading and unloading device drives into the unloading position, and the aforementioned scissor lift mechanism 2 drives the second detection mechanism 5 to move to the preset position along the horizontal plane where the translation conveyor mechanism 3 is located.

[0066] When the laser scanner detects the preset position, the scissor lift mechanism 2 controls the translation conveyor mechanism 3 to lift it to the same height as the placement position, and then drives the belt 32 to rotate and place the goods to be stored on it onto the shelf.

[0067] The method also includes: when the translational conveyor 3 connects the goods to the belt 32, the first displacement sensor 41 detects the position of the goods, and the control system adjusts the running speed of the belt 32 according to the signal of the first displacement sensor 41, so that the goods move towards the middle position;

[0068] When the second displacement sensor 42 detects the cargo, it performs precise calibration to ensure the cargo is centered;

[0069] During the conveying process, the control system continuously monitors and adjusts the signals of the first displacement sensor 41 and the second displacement sensor 42.

[0070] The method further includes: when the translational conveyor 3 unloads the goods on the belt 32, the goods move in the opposite direction with the belt 32, the signal changes of the second displacement sensor 42 and the first displacement sensor 41 are detected in sequence, and the signal of the first displacement sensor 41 is fed back to the control system, and a certain time delay is set for the belt 32 to rotate to ensure that the goods are unloaded in place.

[0071] The method also includes: the above-mentioned AGV picking and placing device controls the translational conveying mechanism 3 to return to the initial state; realizing the fully automated operation of the entire process from task reception, walking, picking up, conveying, placing to reset, reducing manual intervention and improving logistics efficiency.

[0072] In summary:

[0073] This utility model's high-amplitude AGV picking and placing device coordinates the work of the walking mechanism, scissor lifting mechanism, and translation conveying mechanism through the control system, realizing the automatic picking, conveying, and placing of goods, automating operation, reducing labor costs, and improving the level of intelligence in warehousing and logistics.

[0074] This invention utilizes a dual detection mechanism of laser scanner and displacement sensor to achieve precise positioning and correction of goods during the picking, transporting and placing processes, ensuring that goods can accurately reach the designated location.

[0075] The control system of this invention adjusts the belt speed and the lifting height of the scissor lift mechanism in real time based on sensor feedback signals, ensuring the accuracy and efficiency of operation.

[0076] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. The terms "front," "back," "left," and "right" used in the text are not specific and are mainly for more intuitive illustration of the technical solution, and do not constitute a limitation. Those skilled in the art should understand that the above embodiments are only for illustrating the technical concept and features of this utility model, and their purpose is to enable those skilled in the art to understand the content of this utility model and implement it. They should not be used to limit the scope of protection of this utility model. All equivalent changes or modifications made according to the spirit and essence of this utility model should be included within the scope of protection of this utility model.

Claims

1. A high-stroke AGV loading and unloading device, characterized in that: including a traveling mechanism (1), which includes a vehicle body chassis (11), and wheel assemblies are installed on the vehicle body chassis (11) for driving the AGV to travel; a scissor lift mechanism (2), which includes a lifting base (21) installed on the vehicle body chassis (11), a scissor assembly (22) installed on the lifting base (21), a lifting platform (23) installed at one end of the scissor assembly (22) away from the lifting base (21), and a first driving component (24) for driving the scissor assembly (22) to expand and contract, and the lifting platform (23) is arranged parallel to the lifting base (21); a horizontal conveying mechanism (3), which includes conveying rollers (31) installed on the lifting platform (23), a belt (32) sleeved on the conveying rollers (31), and a second driving component (33) for driving the conveying rollers (31) to rotate; a first detection mechanism (4), which is arranged along the conveying direction of the belt (32), and includes a first displacement sensor (41) installed at the open end of the horizontal conveying mechanism (3) and a second displacement sensor (42) installed in the middle of the horizontal conveying mechanism (3); a second detection mechanism (5), which is set as a laser scanner and is placed on one side of the lifting platform (23).

2. The high-amplitude AGV loading and unloading device according to claim 1, wherein: The scissor assembly (22) includes a first folding arm (221) and a second folding arm (222) that are hinged to each other. One end of the first folding arm (221) is hinged to the lifting base (21), and the other end is hinged to the lifting platform (23); One end of the second folding arm (222) is slidably connected to a first slide rail installed on the lifting base (21), and the other end is slidably connected to a second slide rail installed on the lifting platform (23); Two groups of the scissor assemblies (22) are arranged in parallel along the width direction of the lifting base (21). A first guide rod (223) is hinged between the two first folding arms (221), and a second guide rod (224) is hinged between the two second folding arms (222).

3. A high-amplitude AGV loading and unloading device according to claim 2, characterized in that: The first driving component (24) includes a first driving motor (241) installed on the lifting base (21), a lead screw (242) installed at the output end of the first driving motor (241), and a nut (243) rotatably installed on the lead screw (242). The second guide rod (224) passes through the nut (243) and is fixedly connected to the nut (243).

4. A high-amplitude AGV loading and unloading device according to claim 1, characterized in that: Protective covers are installed on the lifting platform (23) on both sides of the belt (32), and the second driving component (33) is installed inside the protective cover; An opening groove is provided on one side of the protective cover facing the belt (32). The first detection mechanism (4) is installed inside the protective cover, and the opening groove is respectively arranged corresponding to the first displacement sensor (41) and the second displacement sensor (42).

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