CN107673013A - Shelf and there is its unmanned handling system - Google Patents
Shelf and there is its unmanned handling system Download PDFInfo
- Publication number
- CN107673013A CN107673013A CN201710465678.0A CN201710465678A CN107673013A CN 107673013 A CN107673013 A CN 107673013A CN 201710465678 A CN201710465678 A CN 201710465678A CN 107673013 A CN107673013 A CN 107673013A
- Authority
- CN
- China
- Prior art keywords
- shelf
- wheel assembly
- positioning hole
- roll wheel
- positioning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000007789 sealing Methods 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 2
- 238000005299 abrasion Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000012512 characterization method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47F—SPECIAL FURNITURE, FITTINGS, OR ACCESSORIES FOR SHOPS, STOREHOUSES, BARS, RESTAURANTS OR THE LIKE; PAYING COUNTERS
- A47F5/00—Show stands, hangers, or shelves characterised by their constructional features
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of shelf and there is its unmanned handling system, the bottom of the shelf is provided with bottom plate, the bottom plate is provided with least one positioning hole, each positioning hole is circumferentially with least one set of roll wheel assembly, each roll wheel assembly includes roller, and the roller is vacantly arranged in the positioning hole.Shelf according to embodiments of the present invention, in circumferentially disposed at least one set of roll wheel assembly of positioning hole, matching relationship between positioning hole and positioning convex is adjusted by roll wheel assembly, reduces the abrasion between positioning hole and positioning convex, improves stability of the shelf on automatic guided vehicle.
Description
Technical field
The present invention relates to a kind of shelf and there is its unmanned handling system.
Background technology
In correlation technique, during the jacking of automatic guided vehicle car body, the positioning convex and bottom plate of the top plate of automatic guided vehicle
Positioning hole cooperate, mismatch error often occurs in positioning hole and positioning convex so that positioning convex and positioning hole abrasion
Seriously, shelf are caused to be positioned with top plate unstable.
The content of the invention
It is contemplated that at least solves one of above-mentioned technical problem to a certain extent.
Therefore, the present invention proposes a kind of shelf, good stability of the shelf on automatic guided vehicle.
The present invention also proposes a kind of unmanned handling system, and the unmanned handling system is stable.
The shelf of embodiment according to a first aspect of the present invention, the bottom of the shelf are provided with bottom plate, and the bottom plate is provided with extremely
A few positioning hole, each positioning hole are circumferentially with least one set of roll wheel assembly, and each roll wheel assembly includes rolling
Wheel, the roller are vacantly arranged in the positioning hole.
Shelf according to embodiments of the present invention, in circumferentially disposed at least one set of roll wheel assembly of positioning hole, pass through roller group
Part adjusts the matching relationship between positioning hole and positioning convex, reduces the abrasion between positioning hole and positioning convex, improves
Stability of the shelf on automatic guided vehicle.
In addition, shelf according to embodiments of the present invention, can also have technical characteristic additional as follows：
According to one embodiment of present invention, the roll wheel assembly includes：Two axle beds being oppositely arranged, each axle
Seat is formed with axis hole；Locating shaft, the both ends of the locating shaft are respectively protruding into the axis hole, and the roller is rotationally sheathed on
The periphery of the locating shaft.
According to one embodiment of present invention, the roll wheel assembly also includes：Bushing, the bushing are embedded at the axis hole
Between inwall and the periphery wall of locating shaft.
According to one embodiment of present invention, the roll wheel assembly also includes：Sealing shield ring, the Sealing shield ring are arranged in positioning
Axle is used to limit the free degree of the roller in the axial direction.
According to one embodiment of present invention, the circumferential direction of each positioning hole is provided with roll wheel assembly described in two groups.
According to one embodiment of present invention, the axle bed is L-shaped, and one end of the axle bed is formed with the first axis hole, institute
The other end of axle bed is stated formed with the second axis hole.
According to one embodiment of present invention, roll wheel assembly described in two groups is substantially formed square.
According to one embodiment of present invention, the axle bed includes：Upper L shaped plate and lower L shaped plate, the upper L shaped plate and institute
Lower L shaped plate is stated to be oppositely arranged.
According to one embodiment of present invention, the medial surface of the axle bed is arcwall face.
According to one embodiment of present invention, the bottom plate is provided with multiple positioning holes, and multiple positioning holes are spaced apart
In on same circumference.
The unmanned handling system of embodiment according to a second aspect of the present invention, because being circumferentially with for positioning hole can be adjusted calmly
The roll wheel assembly of position hole and positioning convex matching relationship causes the bottom plate of shelf and the stability of cavern roof of automatic guided vehicle to coordinate, and avoids
Shelf run-off the straights on automatic guided vehicle, improve stability of the shelf in automatic guided vehicle.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the stereogram of bottom plate according to an embodiment of the invention；
Fig. 2 is the stereogram of two groups of roll wheel assemblies according to an embodiment of the invention；
Fig. 3 is the top view of two groups of roll wheel assemblies according to an embodiment of the invention；
Fig. 4 is along the sectional view of line B-B in Fig. 3；
Fig. 5 is the stereogram of shelf according to an embodiment of the invention；
Fig. 6 is the stereogram of automatic guided vehicle；
Fig. 7 is the fit structure schematic diagram of bottom plate and top plate according to an embodiment of the invention；
Fig. 8 is along the sectional view of line C-C in Fig. 7.
Reference：
Shelf 100；
Bottom plate 10；Positioning hole 11；Roll wheel assembly 12；Roller 121；Axle bed 122；Upper L shaped plate 1221；Lower L shaped plate 1222；It is fixed
Position axle 123；Bushing 124；Sealing shield ring 125；
Automatic guided vehicle 200；
Top plate 20；Positioning convex 21.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Unmanned handling system according to embodiments of the present invention includes the shelf 100 and automatic guided vehicle 200 of above-described embodiment,
The process of the Transport cargo rack 100 of automatic guided vehicle 200 is as follows, and first, automatic guided vehicle 200 drives into the lower section of shelf 100, then without
The jacking apparatus of people's carrier 200 jacks up the bottom plate 10 for causing shelf 100 upwards and the top plate 20 on jacking apparatus coordinates,
Wherein, bottom plate 10 is provided with positioning hole 11, and top plate is provided with the positioning convex 21. being engaged with positioning hole 11
Shelf 100 according to embodiments of the present invention are described referring to Fig. 1 to Fig. 4.The bottom of shelf 100 is provided with bottom plate
10, the bottom plate 10 is relative with ground.Automatic guided vehicle 200 has the top plate 20 coordinated with bottom plate 10, and the top plate 20 is used to support
Shelf 100, its bottom plate 10 are provided with positioning hole 11, and top plate 20 is provided with positioning convex 21.Car body passes through during jacking
Positioning convex 21 realizes the supporting to shelf 100 with the mutual cooperation of positioning hole 11.
Specifically, as shown in figure 1, bottom plate 10 is provided with least one positioning hole 11, each positioning hole 11 be circumferentially with to
Few one group of roll wheel assembly 12, each roll wheel assembly 12 include roller 121, and roller 121 is vacantly arranged in positioning hole 11.
Reference picture 7 is with reference to shown in Fig. 8, and automatic guided vehicle 200 is during Transport cargo rack 100, in positioning hole 11 with determining
There is the situation of mismatch error in position projection 21, and roll wheel assembly 12 can slide to adjust from up to down along the surface of positioning convex 21
Matching relationship between positioning hole 11 and positioning convex 21, the accurate fit of positioning hole 11 and positioning convex 21 is realized, improve bottom
The stability that plate 10 coordinates with top plate 20.
Wherein, the level interval of two rollers 121 can be more than the most flood of positioning convex 21 in every group of roll wheel assembly 12
Flat distance, thus, it is possible to have enough regulation surpluses between ensureing every group of roll wheel assembly 12 so that positioning hole 11 and convex
Play 21 accurate fits.
Advantageously, as shown in figure 8, the horizontal range of positioning convex 21 gradually increases from up to down.So, positioning convex 21
Can more swimmingly it stretch into positioning hole 11, roller 121 can be easy to along the surface of positioning convex 21 swimmingly slide downward
The matching relationship of the regulation of roll wheel assembly 12 regulation positioning hole 11 and positioning convex 21.Wherein, positioning convex 21 can be round platform or
Positive truncated rectangular pyramids.
It is understood that due to roll wheel assembly 12 the surface of positioning convex 21 slide, therefore, it is possible to reduce positioning convex
21 abrasion.
In short, shelf 100 according to embodiments of the present invention, in circumferentially disposed at least one set of roll wheel assembly of positioning hole 11
12, the matching relationship between positioning hole 11 and positioning convex 21 is adjusted by roll wheel assembly 12, reduces positioning hole 11 and positioning
Abrasion between projection 21, improves stability of the shelf 100 on automatic guided vehicle 200.
Unmanned handling system according to embodiments of the present invention, because being circumferentially with for positioning hole 11 can adjust positioning hole 11
Cause the bottom plate 10 of shelf 100 and the stability of cavern roof of automatic guided vehicle 200 with the roll wheel assembly 12 of the matching relationship of positioning convex 21
Coordinate, avoid the run-off the straight on automatic guided vehicle 200 of shelf 100, improve shelf 100 in the steady of automatic guided vehicle 200
It is qualitative.
In some embodiments of the invention, roll wheel assembly 12 can include：Two axle beds 122 being oppositely arranged and positioning
Axle 123.Each axle bed 122 is respectively protruding into axis hole formed with axis hole, the both ends of locating shaft 123, and roller 121 is rotationally arranged
In the periphery of locating shaft 123.As shown in Fig. 4 combinations Fig. 2 and Fig. 3, the installation of axle bed 122 is positioned on bottom plate 10, and roller 121 passes through
Roller 121 is vacantly arranged in positioning hole 11 by two axle beds 122 and locating shaft 123.
In optional embodiment, as shown in figure 4, roll wheel assembly 12 also includes：Bushing 124.Bushing 124 is embedded in axis hole
Between the periphery wall of wall and locating shaft 123.Thus, it is possible to reduce the frictional force between locating shaft 123 and axis hole, locating shaft is reduced
123 abrasion.
In other optional embodiments, as shown in figure 4, roll wheel assembly 12 also includes：Sealing shield ring 125.Sealing shield ring 125 blocks
It is used to limit the free degree of roller 121 in the axial direction located at locating shaft 123.Thus, it is possible to effectively prevent the locating shaft of roller 121
Moved on 123, effectively adjust the matching relationship between positioning convex 21 and positioning hole 11.
Alternatively, as shown in figure 1, the circumferential direction of each positioning hole 11 is provided with two groups of roll wheel assembly 12.Thus, more
The matching relationship between positioning hole 11 and positioning convex 21 is adjusted well, effectively improves the stability of shelf 100.
In further alternative embodiment, axle bed 122 is L-shaped, one end of axle bed 122 formed with the first axis hole, axle bed 122
The other end is formed with the second axis hole.So, the both ends of the locating shaft 123 of one of which roll wheel assembly 12 are matched somebody with somebody with the first axis hole respectively
Close, the both ends of the locating shaft 123 of another group of roll wheel assembly 12 respectively with the second shaft hole matching.Referring to figs. 2 and 3 two groups of rollers
Component 12 is connected with each other to form an entirety with around the circumference for being located at positioning hole 11 by four axle beds 122.Wherein, two groups
Roll wheel assembly substantially forms square.
In one particular embodiment of the present invention, axle bed 122 includes：Upper L shaped plate 1221 and lower L shaped plate 1222, upper L-shaped
Plate 1221 and lower L shaped plate 1222 are oppositely arranged.I.e. axle bed 122 can be mutually butted by upper L shaped plate 1221 and lower L shaped plate 1222
Form one., can be first by the both ends of locating shaft 123 for being arranged with roller 121 and lower L shaped plate in the assembling process of roll wheel assembly 12
Upper L shaped plate 1221, is then covered in lower L shaped plate 1222, so as to complete the group of locating shaft 123 and axle bed 122 by 1222 docking
Dress.
In alternative embodiment, the medial surface of axle bed 122 is arcwall face." medial surface " refers to axle bed 122 towards positioning hole
The face at 11 centers.Arcwall face can have the frictional force reduced between roll wheel assembly 12 and positioning convex 21, and thus, it is fixed further to reduce
The abrasion of position projection 21.
In still other embodiments of the present invention, bottom plate 10 is provided with multiple positioning holes 11, multiple positioning holes 11 be spaced apart in
On same circumference.I.e. bottom plate 10 is cooperated with top plate 20 by multiple positioning holes 11 and multiple positioning convex 21, so as to enter one
Step improves the stability that bottom plate 10 coordinates with top plate 20, avoids the run-off the straight on automatic guided vehicle 200 of shelf 100, improves
Stability of the shelf 100 in automatic guided vehicle 200.
In the description of the invention, it is to be understood that term " on ", " under " ", bottom ", " interior ", " outer ", "front", "rear"
Orientation or position relationship Deng instruction be based on orientation shown in the drawings or position relationship, be for only for ease of the description present invention and
Simplify description, rather than the device or element of instruction or hint meaning there must be specific orientation, with specific azimuth configuration
And operation, therefore be not considered as limiting the invention.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or it " under "
Can directly it be contacted including the first and second features, it is not directly to contact but pass through it that can also include the first and second features
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " to include first special
Sign is directly over second feature and oblique upper, or is merely representative of fisrt feature level height and is higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " fisrt feature that includes are directly over second feature and oblique upper, or be merely representative of
Fisrt feature level height is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art is not departing from the principle and objective of the present invention
In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.
Claims (11)
- A kind of 1. shelf, it is characterised in that the bottom of the shelf is provided with bottom plate, and the bottom plate is provided with least one positioning hole, Each positioning hole is circumferentially with least one set of roll wheel assembly, and each roll wheel assembly includes roller, and the roller hangs Sky is arranged in the positioning hole.
- 2. shelf according to claim 1, it is characterised in that the roll wheel assembly includes：Two axle beds being oppositely arranged, each axle bed is formed with axis hole；Locating shaft, the both ends of the locating shaft are respectively protruding into the axis hole, and the roller is rotationally sheathed on the positioning The periphery of axle.
- 3. shelf according to claim 2, it is characterised in that the roll wheel assembly also includes：Bushing, the bushing are embedded Between the shaft hole inner wall and the periphery wall of locating shaft.
- 4. shelf according to claim 2, it is characterised in that the roll wheel assembly also includes：Sealing shield ring, the Sealing shield ring Locating shaft is arranged in be used to limit the free degree of the roller in the axial direction.
- 5. shelf according to claim 2, it is characterised in that the circumferential direction of each positioning hole is provided with rolling described in two groups Wheel assembly.
- 6. shelf according to claim 5, it is characterised in that the axle bed is L-shaped, and one end of the axle bed is formed with One axis hole, the other end of the axle bed is formed with the second axis hole.
- 7. shelf according to claim 6, it is characterised in that roll wheel assembly is substantially formed square described in two groups.
- 8. shelf according to claim 6, it is characterised in that the axle bed includes：Upper L shaped plate and lower L shaped plate, it is described on L shaped plate and the lower L shaped plate are oppositely arranged.
- 9. shelf according to claim 6, it is characterised in that the medial surface of the axle bed is arcwall face.
- 10. shelf according to claim 1, it is characterised in that the bottom plate is provided with multiple positioning holes, multiple positioning Hole is spaced apart on same circumference.
- A kind of 11. unmanned handling system, it is characterised in that including：Shelf described in claim any one of 1-10, the bottom of the shelf are provided with bottom plate, and the bottom plate is provided with least one Positioning hole；Automatic guided vehicle, the top plate of the automatic guided vehicle have the positioning convex coordinated with the positioning hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710465678.0A CN107673013B (en) | 2017-06-19 | 2017-06-19 | Goods shelf and unmanned carrying system with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710465678.0A CN107673013B (en) | 2017-06-19 | 2017-06-19 | Goods shelf and unmanned carrying system with same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107673013A true CN107673013A (en) | 2018-02-09 |
| CN107673013B CN107673013B (en) | 2023-10-24 |
Family
ID=61133518
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710465678.0A Active CN107673013B (en) | 2017-06-19 | 2017-06-19 | Goods shelf and unmanned carrying system with same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107673013B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108466791A (en) * | 2018-05-18 | 2018-08-31 | 杭州南江机器人股份有限公司 | A kind of docking structure of AGV trolleies and shelf |
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| CN106379684A (en) * | 2016-11-11 | 2017-02-08 | 杭州南江机器人股份有限公司 | Submersible AGV abut-joint method and system and submersible AGV |
| CN206232014U (en) * | 2016-11-16 | 2017-06-09 | 海亮（安徽）铜业有限公司 | A kind of material cycling system of bronze pan tube processing |
| CN206827517U (en) * | 2017-06-19 | 2018-01-02 | 广东美的智能机器人有限公司 | Shelf and there is its unmanned handling system |
-
2017
- 2017-06-19 CN CN201710465678.0A patent/CN107673013B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060210382A1 (en) * | 2004-10-14 | 2006-09-21 | Distrobot Systems, Inc. | Inventory system with mobile drive unit and inventory holder |
| US20160334799A1 (en) * | 2006-06-09 | 2016-11-17 | Amazon Technologies, Inc. | Method and System for Transporting Inventory Items |
| CN101117172A (en) * | 2006-07-31 | 2008-02-06 | 株式会社大福 | Load positioning apparatus |
| CN201186632Y (en) * | 2008-03-24 | 2009-01-28 | 三一重工股份有限公司 | Automatic aligning riding wheel apparatus |
| CN202152191U (en) * | 2011-06-10 | 2012-02-29 | 芜湖德力自动化装备科技有限公司 | Locating system for layering goods shelf of automobile stamping parts |
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| CN108466791A (en) * | 2018-05-18 | 2018-08-31 | 杭州南江机器人股份有限公司 | A kind of docking structure of AGV trolleies and shelf |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107673013B (en) | 2023-10-24 |
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Effective date of registration: 20220622 Address after: 528311 area a, 2nd floor, building B1, 3 Liaoshen Road, Beijiao Town, Shunde District, Foshan City, Guangdong Province Applicant after: KUKA ROBOT (GUANGDONG) Co.,Ltd. Address before: 528311 Global Innovation Center of Penglai Road Industrial Avenue Mei, Beijiao Town, Shunde District, Foshan City, Guangdong Province Applicant before: GUANGDONG MIDEA INTELLIGENT ROBOT Co.,Ltd. |
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