A type of AGV (Automated Guided Vehicle) for shelf storage and retrieval

Abstract

This utility model relates to the technical field of warehouse racking, and in particular to a racking retrieval AGV trolley, which adopts a telescopic support arm and a telescopic arm, which can lift goods to a designated storage position and lower the center of gravity during movement, resulting in good stability; it includes a chassis; and also includes a first tilting motor, a support arm, a telescopic arm, a pallet, a second tilting motor, and a push plate. The first tilting motor is installed at the front end of the chassis, the lower end of the support arm is rotatably installed at the front end of the chassis, the output shaft of the first tilting motor is drivenly connected to the lower end of the support arm, the lower end of the telescopic arm is telescopically installed in the upper end of the support arm, the rear end of the pallet is rotatably connected to the upper end of the telescopic arm, the second tilting motor is installed on the telescopic arm, the output shaft of the second tilting motor is drivenly connected to the rear end of the pallet, and the push plate is movably installed on the pallet.

Description

Technical Field

[0001] This utility model relates to the technical field of warehouse racking, and in particular to a racking retrieval AGV trolley. Background Technology

[0002] In the field of shelving, AGVs (Automated Guided Vehicles) are commonly used to transport and retrieve goods on shelves. Chinese Utility Model Patent Publication No. CN212449163U discloses an AGV with a buffer position for storage and retrieval, and a shelf assembly. This AGV has a buffer position, meaning the shelf mechanism has a storage platform. The AGV can not only store and retrieve a single item at a time, but can also temporarily store several items on the storage platform before transporting them to the next location. This technical solution allows the AGV to store or retrieve several items in a single trip, improving work efficiency and reducing the operating cost of the AGV. The patent also discloses a shelf assembly including this storage and retrieval AGV.

[0003] However, the lifting device installed on the traveling body of the AGV is too high, which is not conducive to maintaining stability when traveling. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model provides a shelf storage AGV trolley with a telescopic support arm and a telescopic arm, which can lift goods to a designated storage position and lower the center of gravity during movement, and has good stability.

[0005] This utility model discloses a rack storage AGV trolley, including a chassis; it also includes a first tilting motor, a support arm, a telescopic arm, a pallet, a second tilting motor, and a pusher plate. The first tilting motor is mounted on the front end of the chassis, and the lower end of the support arm is rotatably mounted on the front end of the chassis. The output shaft of the first tilting motor is drivenly connected to the lower end of the support arm. The lower end of the telescopic arm is retractably mounted in the upper end of the support arm, and the rear end of the pallet is rotatably connected to the upper end of the telescopic arm. The second tilting motor is mounted on the telescopic arm, and its output shaft is drivenly connected to the rear end of the pallet. The pusher plate is movably mounted on the pallet. When transporting goods, the telescopic arm retracts into the support arm, and the output shaft of the first tilting motor drives the support arm to rotate, so that the support arm and the telescopic arm are placed on the chassis. The second tilting motor adjusts the angle of the pallet so that the pallet is flat on the chassis, at which point the pallet is aligned with the first shelf. Multiple goods are arranged on the pallet from front to back according to their height. The chassis moves to the side of the designated shelf. When goods need to be placed on the first shelf, the chassis adjusts its angle so that the pallet is aligned with the target shelf. When the goods are aligned with the designated storage location, the pusher moves towards the front of the pallet, pushing the first item from the pallet to the designated storage location. When goods need to be placed on the second or higher shelf, the first flip motor drives the support arm to flip vertically until it is in front of the chassis. The telescopic arm moves the pallet to the front of the chassis. During the flipping of the support arm and telescopic arm, the second flip motor drives the pallet to rotate in the opposite direction, keeping the pallet horizontal and preventing goods from falling off. The telescopic arm extends upward from the support arm, raising the pallet to the designated workstation on the designated shelf. The pusher moves towards the front of the pallet, pushing the designated goods from the pallet to the designated storage location. Then, the support arm, telescopic arm, and pallet lower and reset. The chassis moves to the next shelf location, repeating the above operation to place multiple goods from the pallet onto the designated shelf in sequence. Compared to existing technologies that use large-area pallets to carry multiple goods, this method uses retractable support arms and telescopic arms, which can lift goods to the designated storage location while effectively lowering the center of gravity during movement, resulting in better stability.

[0006] Preferably, it also includes a camera, which is installed on the side of the pusher; the camera monitors the goods on the pallet, and the camera follows the pusher and pallet as they rise and fall, and monitors and identifies the shelves and storage locations by scanning the labels of the storage locations, thereby improving the accuracy of loading.

[0007] Preferably, it also includes a slide rail and a slider. The slide rail is installed on the side wall of the tray, the slider is slidably installed on the slide rail, and the push plate is installed on the slider. The push plate is slidably connected to the slide rail through the slider, so that the push plate slides smoothly and stably.

[0008] Preferably, it also includes a pusher motor, a gear, and a rack. The pusher motor is mounted on the pusher plate, the gear is rotatably mounted on the pusher plate, the output shaft of the pusher motor is connected to the gear transmission, and the rack is mounted on the pallet plate, with the gear meshing with the rack. The pusher motor drives the gear to rotate, and the gear meshing with the rack drives the pusher plate to move along the pallet plate, thereby driving the pusher plate and causing the pusher plate to push the goods.

[0009] Preferably, it also includes a control box, which is mounted on the pallet. The control box contains controllers for the chassis, tilting motor one, tilting motor two, and pushing motor. An angle sensor for detecting the pallet angle is also installed inside the control box. The angle sensor is electrically connected to the control of tilting motor two. This configuration facilitates the control of the chassis, tilting motor one, tilting motor two, and pushing motor. When the support arm tilts, the pallet angle also changes. The angle sensor detects the pallet angle in real time. After receiving the angle information, the controller of tilting motor two controls tilting motor two to drive the pallet to rotate in the opposite direction, thereby keeping the pallet dynamically level and improving stability.

[0010] Preferably, it also includes a communication module, which is installed on the control box; the communication module is connected to the upper-level system to realize data communication between the upper and lower levels.

[0011] Preferably, the arm also includes multiple limiting teeth, a limiting plate, and a third tilting motor. Multiple limiting teeth are evenly installed on the side wall of the telescopic arm. The limiting plate is rotatably mounted on the support arm. The third tilting motor is mounted on the support arm and is connected to the limiting plate in a transmission manner. The end of the limiting plate is engaged between two limiting teeth. The third tilting motor drives the limiting plate to rotate, causing the limiting plate to disengage from the limiting teeth. At this time, the telescopic arm can extend and retract. When the telescopic arm extends to a specified height, the third tilting motor drives the limiting plate to rotate, causing the limiting plate to engage between two limiting teeth. At this time, the telescopic arm is locked, improving stability.

[0012] Compared with the prior art, the advantages of this utility model are as follows: it uses a large-area pallet to carry multiple goods, and uses telescopic support arms and telescopic arms, which can lift the goods to the designated position while effectively lowering the center of gravity during movement, resulting in good stability. Attached Figure Description

[0013] Figure 1 This is a structural schematic diagram of the present invention in its movable state;

[0014] Figure 2 This is a structural schematic diagram of the lifting cargo configuration of this utility model;

[0015] Figure 3 This is a structural schematic diagram of the goods pushing status of this utility model;

[0016] Figure 4It is a structural diagram of the pallet, tilting motor 2, push plate, camera, slide rail, slider, pusher motor, gears, rack, control box and communication module, etc.

[0017] Figure 5 yes Figure 3 A magnified schematic diagram of the structure at point A in the middle.

[0018] The following components are labeled in the attached diagram: 1. Chassis; 2. Tilting motor one; 3. Support arm; 4. Telescopic arm; 5. Pallet; 6. Tilting motor two; 7. Push plate; 8. Camera; 9. Slide rail; 10. Slider; 11. Pushing motor; 12. Gear; 13. Rack; 14. Control box; 15. Communication module; 16. Limiting gear; 17. Limiting plate; 18. Tilting motor three. Detailed Implementation

[0019] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. This utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of this utility model more thorough and complete. Example 1

[0020] like Figures 1 to 4 As shown, a rack storage AGV trolley includes a chassis 1; it also includes a tilting motor 2, a support arm 3, a telescopic arm 4, a pallet 5, a tilting motor 6, and a push plate 7. The tilting motor 2 is mounted on the front end of the chassis 1. The lower end of the support arm 3 is rotatably mounted on the front end of the chassis 1. The output shaft of the tilting motor 2 is drivenly connected to the lower end of the support arm 3. The lower end of the telescopic arm 4 is telescopically mounted on the upper end of the support arm 3. The rear end of the pallet 5 is rotatably connected to the upper end of the telescopic arm 4. The tilting motor 6 is mounted on the telescopic arm 4. The output shaft of the tilting motor 6 is drivenly connected to the upper end of the telescopic arm 4. The rear end of the pallet 5 is connected to the drive, and the push plate 7 is movably mounted on the pallet 5; it also includes a camera 8, which is mounted on the side of the push plate 7; it also includes a control box 14, which is mounted on the pallet 5. The control box 14 contains controllers for the chassis 1, the first tilting motor 2, the second tilting motor 6, and the pusher motor 11. The control box 14 also contains an angle sensor that detects the angle of the pallet 5. The angle sensor is electrically connected to the control of the second tilting motor 6; it also includes a communication module 15, which is mounted on the control box 14.

[0021] Communication module 15 communicates with the upper-level system to achieve data communication. When moving goods, the telescopic arm 4 retracts into the support arm 3. The output shaft of the first tilting motor 2 drives the support arm 3 to rotate, so that the support arm 3 and the telescopic arm 4 are placed on the chassis 1. The second tilting motor 6 adjusts the angle of the pallet 5 so that the pallet 5 is placed flat on the chassis 1. At this time, the pallet 5 is aligned with the first layer of the shelf. Multiple goods are arranged on the pallet 5 from front to back according to the height of the goods. The chassis 1 moves to the side of the designated shelf. When there are goods that need to be placed on the first layer of the shelf... The chassis 1 adjusts its angle to align the pallet 5 with the target shelf location. The pusher 7 moves towards the front of the pallet 5, pushing the first item from the pallet 5 into the designated location. When items need to be placed on the second shelf or above, the tilting motor 2 drives the support arm 3 to tilt vertically to the front of the chassis 1. The telescopic arm 4 moves the pallet 5 to the front of the chassis 1. During the tilting process of the support arm 3 and the telescopic arm 4, the angle of the pallet 5 changes as the support arm 3 tilts. The angle sensor detects the angle of the pallet 5 in real time. After receiving the angle information, the controller of machine 26 controls the tilting motor 26 to drive the pallet 5 to rotate in the opposite direction, so that the pallet 5 always remains horizontal and prevents the goods on the pallet 5 from falling off. The telescopic arm 4 extends upward from the support arm 3, thereby raising the pallet 5 to the designated workstation on the designated layer of the shelf. The camera 8 monitors the goods on the pallet 5 and follows the pusher 7 and the pallet 5 as they rise and fall. By scanning the barcode of the storage location, the shelf and storage location are monitored and identified, improving the accuracy of loading. The pusher 7 moves towards the pallet 5... The front end moves, causing the pusher 7 to push the designated goods from the pallet 5 to the designated storage location. Then, the support arm 3, telescopic arm 4, and pallet 5 descend and reset. The chassis 1 moves to the shelf of the next storage location. The above operation is repeated so that multiple goods on the pallet 5 are placed onto the designated shelf in sequence. The reverse operation can realize the retrieval of multiple goods. Compared with the existing technology that uses a large pallet 5 to carry multiple goods, the use of telescopic support arms 3 and telescopic arms 4 can effectively lower the center of gravity during movement while lifting the goods to the designated storage location, resulting in good stability. Example 2

[0022] like Figures 1 to 4 As shown, based on Embodiment 1, it also includes a slide rail 9 and a slider 10. The slide rail 9 is installed on the side wall of the pallet 5, and the slider 10 is slidably installed on the slide rail 9. The push plate 7 is installed on the slider 10. It also includes a pusher motor 11, a gear 12 and a rack 13. The pusher motor 11 is installed on the push plate 7, and the gear 12 is rotatably installed on the push plate 7. The output shaft of the pusher motor 11 is connected to the gear 12 for transmission. The rack 13 is installed on the pallet 5, and the gear 12 meshes with the rack 13.

[0023] The push plate 7 is slidably connected to the slide rail 9 via the slider 10, so that the push plate 7 slides smoothly and stably. The push motor 11 drives the gear 12 to rotate, and the gear 12 meshes with the rack 13 to drive the push plate 7 to move along the support plate 5, thereby driving the push plate 7 to push the goods. Example 3

[0024] like Figure 2 , Figure 3 and Figure 5 As shown, based on Embodiment 1, it also includes multiple limiting teeth 16, a limiting plate 17, and a flipping motor 18. Multiple limiting teeth 16 are evenly installed on the side wall of the telescopic arm 4. The limiting plate 17 is rotatably installed on the support arm 3. The flipping motor 18 is installed on the support arm 3. The flipping motor 18 is connected to the limiting plate 17 in a transmission manner. The end of the limiting plate 17 is inserted between two limiting teeth 16.

[0025] The flip motor 318 drives the limit plate 17 to rotate, causing the limit plate 17 to disengage from the limit teeth 16. At this time, the telescopic arm 4 can extend and retract. When the telescopic arm 4 extends to the specified height, the flip motor 318 drives the limit plate 17 to rotate, causing the limit plate 17 to engage between the two limit teeth 16. At this time, the telescopic arm 4 is locked, improving stability.

[0026] like Figures 1 to 5As shown, this utility model discloses a shelf storage AGV trolley. During operation, the telescopic arm 4 retracts into the support arm 3. The output shaft of the first flip motor 2 drives the support arm 3 to rotate, placing the support arm 3 and telescopic arm 4 on the chassis 1. The second flip motor 6 adjusts the angle of the pallet 5 so that the pallet 5 is placed flat on the chassis 1, aligning the pallet 5 with the first shelf level. Multiple goods are then arranged from front to back according to their height on the pallet 5. The chassis 1 moves to the side of the designated shelf. When goods need to be placed on the first shelf level, the chassis 1 adjusts its angle to align the pallet 5 with the target shelf level. The pusher 7 moves towards the front of the pallet 5, pushing the first goods from the pallet 5 into the designated storage location. Then, when goods need to be placed on the second shelf level or higher, the first flip motor 2 drives the support arm 3 to flip vertically until it reaches the front of the chassis 1. The telescopic arm 4 moves the pallet 5 to the front of the chassis 1. During the rotation of the support arm 3 and the telescopic arm 4, the rotating motor 6 drives the pallet 5 to rotate in the opposite direction, keeping the pallet 5 horizontal and preventing the goods on the pallet 5 from falling off. The telescopic arm 4 extends upward from the support arm 3, thereby raising the pallet 5 to the designated workstation on the designated layer of the shelf. The camera 8 monitors the goods on the pallet 5 and follows the rise and fall of the pusher 7 and the pallet 5. By scanning the identification tags of the storage locations, the shelf and storage locations are monitored and identified. The pusher 7 moves towards the front of the pallet 5, pushing the designated goods from the pallet 5 to the designated storage location. Then the support arm 3, the telescopic arm 4, and the pallet 5 descend and reset. Finally, the chassis 1 moves to the shelf of the next storage location and repeats the above operation so that multiple goods on the pallet 5 can be placed on the designated shelf in sequence.

[0027] The main functions achieved by this utility model are:

[0028] 1. A large pallet 5 is used to support multiple goods. The telescopic support arm 3 and telescopic arm 4 are used to lift the goods to the designated position while effectively lowering the center of gravity during movement, resulting in good stability.

[0029] 2. By scanning the barcode labels on the storage locations using camera 8, the shelves and storage locations can be monitored and identified, improving the accuracy of stocking.

[0030] 3. The height of the telescopic arm 4 is locked by the locking component to improve stability.

[0031] The rack storage AGV trolley of this utility model uses common mechanical methods for installation, connection, or setting. Any method that can achieve the desired beneficial effect can be implemented. The chassis 1, tilting motor 1, support arm 3, telescopic arm 4, pallet 5, tilting motor 2, push plate 7, camera 8, slide rail 9, slider 10, pushing motor 11, gear 12, rack 13, control box 14, communication module 15, limit gear 16, and tilting motor 3 18 of this utility model are all commercially available. Technical personnel in this industry only need to install and operate it according to the accompanying instruction manual, without requiring any creative work from those skilled in the art.

[0032] All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0033] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A shelf access AGV cart comprising a chassis (1); characterized in that, It also includes a first flip motor (2), a support arm (3), a telescopic arm (4), a tray (5), a second flip motor (6), and a push plate (7). The first flip motor (2) is installed at the front end of the chassis (1). The lower end of the support arm (3) is rotatably installed at the front end of the chassis (1). The output shaft of the first flip motor (2) is connected to the lower end of the support arm (3). The lower end of the telescopic arm (4) is telescopically installed in the upper end of the support arm (3). The rear end of the tray (5) is rotatably connected to the upper end of the telescopic arm (4). The second flip motor (6) is installed on the telescopic arm (4). The output shaft of the second flip motor (6) is connected to the rear end of the tray (5). The push plate (7) is movably installed on the tray (5).

2. A shelf accessing AGV cart as claimed in claim 1, characterized in that, It also includes a camera (8), which is mounted on the side of the push plate (7).

3. A shelf accessing AGV cart as claimed in claim 1, wherein, It also includes a slide rail (9) and a slider (10). The slide rail (9) is mounted on the side wall of the tray (5), the slider (10) is slidably mounted on the slide rail (9), and the push plate (7) is mounted on the slider (10).

4. A shelf accessing AGV cart as claimed in claim 3, wherein, It also includes a pusher motor (11), a gear (12) and a rack (13). The pusher motor (11) is mounted on the pusher plate (7), the gear (12) is rotatably mounted on the pusher plate (7), the output shaft of the pusher motor (11) is connected to the gear (12) for transmission, and the rack (13) is mounted on the pallet plate (5). The gear (12) meshes with the rack (13).

5. A shelf accessing AGV cart as claimed in claim 4, wherein, It also includes a control box (14), which is installed on the pallet (5). The control box (14) contains a chassis (1), a first flip motor (2), a second flip motor (6), and a push motor (11). The control box (14) contains an angle sensor that detects the angle of the pallet (5). The angle sensor is electrically connected to the control of the second flip motor (6).

6. A shelf accessing AGV cart as claimed in claim 5, wherein, It also includes a communication module (15), which is installed on the control box (14).

7. A shelf accessing AGV cart as claimed in claim 1, wherein, It also includes multiple limiting teeth (16), limiting plates (17) and a third flip motor (18). Multiple limiting teeth (16) are evenly installed on the side wall of the telescopic arm (4). The limiting plate (17) is rotatably installed on the support arm (3). The third flip motor (18) is installed on the support arm (3). The third flip motor (18) is connected to the limiting plate (17) in a transmission. The end of the limiting plate (17) is inserted between two limiting teeth (16).

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