CN109375621B - Stacker of AGV mode - Google Patents
Stacker of AGV mode Download PDFInfo
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- CN109375621B CN109375621B CN201811269619.7A CN201811269619A CN109375621B CN 109375621 B CN109375621 B CN 109375621B CN 201811269619 A CN201811269619 A CN 201811269619A CN 109375621 B CN109375621 B CN 109375621B
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- 230000006698 induction Effects 0.000 claims description 30
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- 230000009471 action Effects 0.000 claims description 14
- 238000013016 damping Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 7
- 210000004907 gland Anatomy 0.000 claims description 5
- 230000000712 assembly Effects 0.000 claims description 4
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- 230000008054 signal transmission Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 3
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- 230000006872 improvement Effects 0.000 description 19
- 238000007689 inspection Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000007306 turnover Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
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- 238000010586 diagram Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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Abstract
The invention discloses an AGV mode stacker, which comprises a control system, an AGV module and a stacker module driven by the AGV module, wherein the AGV module comprises a shell, a battery box arranged in the shell, a driving assembly arranged at the bottom of the shell, a magnetic navigation sensor assembly arranged in front of the driving assembly, an RFID sensor arranged in front of the driving assembly at the bottom of the shell, a laser scanning obstacle avoidance sensor arranged in front of the shell and a lifting assembly arranged at the bottom of the shell and connected with the driving assembly; compared with the prior art, the AGV-mode stacker disclosed by the invention has the advantages that the conveying assembly can be used for storing a container, inputting or outputting the container, realizing high-precision magnetic navigation automatic conveying, identifying obstacles and landmark cards in the conveying process, and enabling the driving assembly to leave the ground when the stacker is required to be overhauled, and overhauling can be performed without taking the stacker down.
Description
Technical Field
The invention relates to the technical field of stackers, in particular to an AGV mode stacker.
Background
In the hardware industry, a stacker is generally used for temporary storage and turnover of workpieces, and when the workpieces need to be stored, a pallet fork container is conveyed to the stacker; when the goods are required to be delivered, the pallet fork carries the container out of the stacker; the stacker can only temporarily store cargoes, the placement position of the stacker is the final position of a container, when the pallet fork and the stacker are integrally arranged, the stacker is required to take the cargoes forwards and then back to reset when the container is stored, and then the cargoes are stored at the designated position of the stacker in a left-right moving way; when one layer of goods shelves is stacked with the container, the fork also needs to ascend to store goods for the second layer of goods shelves; when the fork and the stacker are integrally arranged, the position of the fork lifting on the stacker is reserved; not only occupies space, but also is complex to operate and has low working efficiency.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides an AGV mode stacker.
In order to achieve the above purpose, the technical scheme adopted by the invention is an AGV-mode stacker, which comprises a control system, an AGV module and a stacker module driven by the AGV module.
The AGV module comprises a shell, a battery box arranged in the shell, a driving assembly arranged at the bottom of the shell, a magnetic navigation sensor assembly arranged in front of the driving assembly, an RFID sensor arranged in front of the driving assembly at the bottom of the shell, a laser scanning obstacle avoidance sensor arranged in front of the shell, and a lifting assembly arranged at the bottom of the shell and connected with the driving assembly, wherein the driving assembly, the magnetic navigation sensor assembly, the RFID sensor, the laser scanning obstacle avoidance sensor and the lifting assembly are electrically connected with a control system.
The bottom of the shell is provided with universal wheels for supporting the whole stacker and moving and steering under the drive of the drive assembly.
The driving assembly comprises a running mechanism, a connecting frame and a bracket, wherein the connecting frame is connected with the running mechanism, the bracket is elastically connected with the connecting frame, a flange used for being connected with the shell is arranged above the bracket, and the lifting assembly is arranged on the bracket.
The stacker module is arranged on the shell and comprises a storage frame, a lifting frame, a fork, a lifting assembly, at least one conveying assembly and at least a first riding wheel assembly, wherein the storage frame and the lifting frame are oppositely arranged on the shell, the conveying assembly is arranged in the storage frame, the first riding wheel assembly is arranged on the lifting frame and is matched with the conveying assembly in height, the lifting assembly is arranged on the lifting frame, the fork is connected with the lifting assembly, and the fork, the lifting assembly and the conveying assembly are electrically connected with the control system.
Under the action of the control system, the pallet fork can carry the container to the conveying assembly and input the container into the storage rack for temporary storage by the conveying assembly when the inventory is needed, and can output the container for conveying the group price output from the storage rack under the action of the control system when the goods are needed to be output; the lifting component can drive the fork to lift under the action of the control system; the height of the forks is adapted to the position of the transport assembly.
The control system can control the travelling mechanism to drive the stacker module to move according to the magnetic track in the signal transmission of the magnetic navigation sensor assembly, control the travelling mechanism to drive the shell to rotate in the signal transmission of the laser scanning obstacle avoidance sensor to avoid the obstacle of the stacker, identify the landmark card in the signal of the RFID sensor to convey the stacker to a specified position, and enable the travelling mechanism to leave the ground under the action of the lifting assembly when the stacker needs to be maintained.
As an improvement of the invention, the travelling mechanism comprises a driving frame and driving wheels which are arranged on two sides of the driving frame and are respectively connected with driving components which are respectively and independently arranged, and the driving frame is connected with the connecting frame.
As an improvement of the invention, the lifting assembly comprises a lifting rotating shaft arranged on the bracket through a rotating seat, lifting arms arranged at two ends of the lifting rotating shaft, and a lifting motor arranged on the bracket through a lifting seat and in transmission connection with the lifting rotating shaft, and the connecting frame is provided with a bearing plate matched with the lifting arms.
As an improvement of the invention, the conveying assembly comprises a conveying frame arranged on the storage frame, a conveying shaft arranged at the front end of the conveying frame, driving wheels arranged at the two ends of the conveying shaft, inner guide wheel shafts uniformly distributed at the two sides of the conveying frame, inner guide wheels arranged on the inner guide wheel shafts, two belts rolling on the inner guide wheels at the two sides of the conveying frame and the driving wheels, and a conveying motor arranged on the conveying frame and in transmission connection with the conveying shaft.
As an improvement of the invention, the first riding wheel assembly comprises a first riding wheel frame arranged on two sides of the lifting frame, at least one riding wheel shaft uniformly distributed on the first riding wheel frame, and riding wheels rolling on the riding wheel shaft, wherein the height of the riding wheels is matched with the height of the belt.
As an improvement of the invention, the distance between the conveying component and the first riding wheel component is smaller than the width of the container, the distance between the conveying component and the first riding wheel component is larger than the width of the fork, and the distance between the storage rack and the conveying rack is larger than the width of the container.
As an improvement of the invention, the lifting rotating shaft is provided with the induction piece, the bracket is provided with the sensor seat, the sensor seat extends towards the induction piece, the sensor seat is provided with the sensor which is used for being matched with the induction piece, and the sensor is positioned above the induction piece when the lifting assembly is not started.
As an improvement of the invention, outer guide wheel shafts and outer guide wheels arranged on the outer guide wheel shafts are uniformly distributed on the outer sides of two ends of the conveying frame, the outer guide wheels and the inner guide wheels on each side of the conveying frame are arranged in a staggered mode, and the heights of the outer guide wheels are matched with the heights of the belts.
As an improvement of the invention, the induction piece is provided with an upper induction end and a lower induction end, the two induction ends are symmetrically arranged on two sides of the section of the axis of the lifting rotating shaft and form an included angle smaller than 90 degrees, when the lifting assembly is not started, one induction end of the induction piece is positioned below the sensor, the other induction end of the induction piece is positioned above the sensor, and when the lifting rotating shaft rotates, the induction piece rotates along with the lifting rotating shaft and can enable the upper induction end or the lower induction end to be matched with the sensor.
The rear end of the conveying frame is provided with a second riding wheel assembly, the second riding wheel assembly comprises a second riding wheel frame arranged on the outer sides of two ends of the conveying frame, at least one riding wheel shaft arranged on the second riding wheel frame, and riding wheels arranged on the riding wheel shafts, wherein the height of each riding wheel is matched with the height of each belt.
As an improvement of the invention, the connecting frame is provided with a first spring seat and a damping spring arranged in the first spring seat, the upper part and the lower part of the bracket are respectively provided with a flange used for being connected with the stacker and a second spring seat sleeved in the first spring seat, and the damping spring is sleeved on the second spring seat and is pressed between the first spring seat and the bracket.
As an improvement of the invention, two conveying components are arranged on the storage rack, and a first riding wheel component respectively matched with the two conveying components is arranged on the lifting rack.
As an improvement of the invention, the connecting frame is provided with guide seats positioned at two sides of the first spring seat, the bracket is provided with a guide rod matched with the guide seats, the guide rod is sleeved in the guide seats and extends out from the bottoms of the guide seats, and one end of the guide rod extending out of the guide seats is provided with a gland.
As an improvement of the invention, the distance between the two conveying assemblies is adapted to the height of the cargo box.
As an improvement of the invention, the first spring seat is arranged at the center of the connecting frame and below the connecting frame.
As an improvement of the invention, the second spring seat is arranged at the center of the bracket and below the bracket, the flange is arranged at the center of the bracket above the bracket and above the bracket, and the axis of the second spring seat is coincident with the axis of the flange.
As an improvement of the invention, the rear end of the first carrier is provided with a baffle, and the front end of the baffle is provided with a first goods inspection photoelectric switch; the lifting frame is provided with a travel switch which is matched with the first riding wheel component in height, and the front end of the conveying frame is provided with a second goods checking photoelectric switch.
As an improvement of the invention, a first in-place photoelectric switch is arranged at the rear end of the first carrier, a second in-place photoelectric switch, a third in-place photoelectric switch and a fourth in-place photoelectric switch are sequentially arranged on the conveying frame, the distance between the first in-place photoelectric switch and the second in-place photoelectric switch is matched with the width of a container, and the distance between the third in-place photoelectric switch and the fourth in-place photoelectric switch is matched with the width of the container.
As an improvement of the invention, the storage rack and the lifting rack are connected through a connecting rod, the connecting rod is provided with a highest position limit switch, and the shell is provided with a lowest position limit switch.
As an improvement of the invention, the bottom of the shell is provided with a music box.
As an improvement of the invention, the front end of the shell is provided with a crashproof strip.
Compared with the prior art, the AGV mode stacker has the following advantages:
1. according to the AGV-mode stacker, the conveying assembly of the stacker module can be used for storing a container, and can be used for inputting or outputting the container, and the distance between the conveying assembly and the first riding wheel assembly can enable a fork to lift and pass through and can be used for storing one container; not only can the storage capacity of stacker be increased, but also the working path of fork can be simplified, goods storage and turnover efficiency are improved.
2. According to the stacker with the AGV mode, the magnetic navigation sensor component of the AGV module recognizes the change of the magnetic track on the bottom surface and sends signals to the control system, so that the control system drives the travelling mechanism to perform travelling or rotating actions, the AGV module moves precisely according to the set magnetic track, and high-precision magnetic navigation automatic conveying is achieved.
3. According to the stacker with the AGV mode, the laser scanning obstacle avoidance sensor of the AGV module is based on a target positioning technology of a laser radar, dynamic obstacle detection is carried out, any obstacle approaching the stacker is detected, when the obstacle enters an alarm range, the control system gives an obstacle avoidance control amount and optimal speed or stops according to the speed and the position of the existing state, the obstacle avoidance control amount or the optimal speed or stops, an emergency stopping function is avoided, after the obstacle is moved away, the control system autonomously judges to restart to continue executing tasks according to new scanning data sent by the laser scanning obstacle avoidance sensor, and the tasks are completed in the shortest time without blocking a car and collision.
4. According to the stacking machine in the AGV mode, after the RFID sensor of the AGV module detects the landmark card in the magnetic track in operation, a signal is sent to the control system, the control system can stop the running of the running mechanism according to the signal, the task issuing efficiency is improved, and the task is completed without packet loss and error.
When the stacker needs to be maintained, the lifting assembly of the AGV module is started to enable the travelling mechanism to leave the ground, then the shell is manually pushed, the universal wheels are moved to the maintenance point to be maintained under manual control, the stacker does not need to be moved away from the upper portion of the shell, and the maintenance is convenient.
Drawings
FIG. 1 is a schematic diagram of a stacker in AGV mode according to the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 in another direction;
FIG. 3 is a schematic view of the AGV module of FIG. 1;
FIG. 4 is a schematic view of the structure of FIG. 3 in another direction;
FIG. 5 is a schematic view of the structure of FIG. 3 with the housing removed;
FIG. 6 is a schematic view of the structure of FIG. 5 in another direction;
FIG. 7 is a left side view of FIG. 6;
FIG. 8 is a bottom view of FIG. 5;
FIG. 9 is a schematic diagram of a stacker module of FIG. 1;
FIG. 10 is a schematic view of the conveyor assembly and second idler assembly of FIG. 9;
FIG. 11 is a schematic view of the lifting frame and the first riding wheel assembly in FIG. 9;
in the figure: 1. control system, 2 AGV module, 21. Housing, 211. Universal wheel, 212. Music box, 213. Bumper, 214. Battery case, 215. Lowest position limit switch, 22. Drive assembly, 221. Running gear, 2211. Drive bay, 2212. Drive wheel, 2213. Drive assembly, 222. Adapter bay, 2221. First spring seat, 2222. Load-bearing plate, 2223. Guide holder, 223. Bracket, 2231. Flange, 2232. Second spring seat, 2233. Swivel, 2234. Lift seat, 2235. Sensor holder, 2236. Sensor, 2237. Guide rod, 2238. Gland, 23. Magnetic navigation sensor assembly, 24.RFID sensor, 25. Laser scanning obstacle avoidance sensor, 26. Lift assembly, 261. Lift pivot, 262. Lift motor, 263. Lift arm, 264. Sensor pad, 2641. Sense end, 3 stacker module. Storage rack, 32. Lifting rack, 321. Travel switch, 33. Conveying assembly, 331. Conveying rack, 3311. Second-to-position photoelectric switch, 3312. Third-to-position photoelectric switch, 3313. Fourth-to-position photoelectric switch, 3314. Second-to-position photoelectric switch, 332. Conveying shaft, 333. Driving wheel, 334. Inner guide wheel, 335. Inner guide wheel, 336. Belt, 337. Conveying motor, 338. Outer guide wheel, 339. Outer guide wheel, 34. First supporting wheel assembly, 341. First supporting wheel frame, 3411. Baffle, 342. Supporting wheel, 343. Supporting wheel, 344. First-to-position photoelectric switch, 345. First-to-position photoelectric switch, 35. Second supporting wheel assembly, 351. Second supporting wheel frame, 36. Fork, 37. Lifting assembly, 38. Connecting rod, 381. Highest position limit switch, 4. First supporting wheel assembly, etc
The implementation and advantages of the functions of the present invention will be further described with reference to the accompanying drawings.
Description of the embodiments
The invention will be further described with reference to the drawings and preferred embodiments.
As shown in fig. 1 to 11, a stacker of an AGV mode including a control system 1, an AGV module 2, and a stacker module 3 driven by the AGV module 2; the AGV module 2 comprises a shell 21, a battery box 214 arranged in the shell 21, a driving assembly 22 arranged at the bottom of the shell 21, a magnetic navigation sensor assembly 23 arranged in front of the driving assembly 22, an RFID sensor 24 arranged in front of the driving assembly 22 at the bottom of the shell 21, a laser scanning obstacle avoidance sensor 25 arranged in front of the shell 21, and a lifting assembly 26 arranged at the bottom of the shell 21 and connected with the driving assembly 22, wherein the driving assembly 22, the magnetic navigation sensor assembly 23, the RFID sensor 24, the laser scanning obstacle avoidance sensor 25 and the lifting assembly 26 are electrically connected with the control system 1.
The driving assembly 22 comprises a traveling mechanism 221, a connecting frame 221 and a bracket 223, wherein the connecting frame 221 is connected with the traveling mechanism 221, the bracket 223 is elastically connected with the connecting frame 221, a flange 2231 for connecting with the shell 21 is arranged above the bracket 223, and the lifting assembly 26 is arranged on the bracket 223.
The bottom of the shell 21 is provided with a universal wheel 211 used for supporting the whole stacker and moving and steering under the drive of the drive assembly 22, the universal wheel 211 can move along with the travelling mechanism 221 when the drive assembly 22 drives the whole AGV module 2 to travel, the lifting assembly 26 can lift the drive assembly 22 and leave the ground, the supporting effect is achieved on the shell 21 and the stacker module 3 on the shell 21, and an maintainer can push the stacker to travel to an overhaul point.
The travelling mechanism 221 comprises a driving frame 2211, driving frames 2212 arranged at two sides of the driving frame 2211 and respectively connected with driving components 2213 which are respectively and independently arranged, and the driving frame 2211 is connected with the connecting frame 221; the driving assembly 2213 is a driving motor in transmission connection with the driving frame 2212, and the traveling mechanism 221 can be rotated by the rotation speed difference of the two driving motors to realize automatic turning of the AGV module 2.
The lifting assembly 26 comprises a lifting rotating shaft 261 arranged on the bracket 223 through a rotating seat 2233, lifting arms 263 arranged at two ends of the lifting rotating shaft 261, and a lifting motor 262 arranged on the bracket 223 through a lifting seat 2234 and in transmission connection with the lifting rotating shaft 261, and the connecting frame 221 is provided with a bearing plate 2222 matched with the lifting arms 263; the connecting frame 221 is provided with a first spring seat 2221 and a damping spring arranged in the first spring seat 2221, the upper part and the lower part of the bracket 223 are respectively provided with a flange 2231 used for being connected with a stacker and a second spring seat 2232 sleeved in the first spring seat 2221, and the damping spring is sleeved on the second spring seat 2232 and is pressed between the first spring seat 2221 and the bracket 223; when the stacker is placed on the shell 21, due to the pressure of the stacker, the damping spring is compressed and applies a force to the linking frame 221 to press the linking frame 221 downwards, so that the driving frame 2212 of the travelling mechanism 221 is tightly attached to the ground, the travelling mechanism 221 is convenient to drive the stacker to stably run, when the stacker needs to be overhauled, under the action of the control system 1, the lifting motor 262 is started and drives the lifting rotating shaft 261 to rotate, the lifting arm 263 rotates along with the lifting rotating shaft 261 and applies an upward pulling force to the bearing plate 2222, the damping spring is compressed by the upward pulling force, the linking frame 221 ascends and drives the travelling mechanism 221 to leave the ground, the travelling mechanism 221 cannot control the operation of the AGV module 2 and the stacker module 3, and the stacker is convenient to manually push the stacker to an overhauling point for maintenance.
In the moving process of the AGV module 2, the magnetic navigation sensor assembly 23 recognizes the change of the magnetic track on the bottom surface and sends a signal to the control system 1, the control system 1 drives the traveling mechanism 221 to perform traveling or rotating actions, the AGV module 2 precisely moves according to the set magnetic track, high-precision magnetic navigation automatic conveying is achieved, meanwhile, the laser scanning obstacle avoidance sensor 25 performs dynamic obstacle detection based on a target positioning technology of a laser radar, any obstacle approaching the stacker is detected, when the obstacle enters an alarm range, the control system 1 gives an obstacle avoidance control amount and optimal speed or parking according to the speed and the position of the existing state, the obstacle is avoided or an emergency parking function is achieved, after the obstacle is moved away, the control system 1 autonomously judges to restart to continue to execute tasks according to new scanning data sent by the laser scanning obstacle avoidance sensor 25, and the tasks are not blocked, not collided and completed in the shortest time.
When the RFID sensor 24 detects the landmark card in the magnetic track during operation, a signal is sent to the control system 1, and the control system 1 can stop the running of the running mechanism 221 according to the signal, so that the task issuing efficiency is improved, and the task is completed without packet loss and error.
Preferably, the lifting rotating shaft 261 is provided with a sensing piece 264, the bracket is provided with a sensor seat 2235, the sensor seat 2235 extends towards the sensing piece 264, the sensor seat 2235 is provided with a sensor 2236 for adapting to the sensing piece 264, and the sensor 2236 is preferably a groove-type photoelectric sensor 2236; when the lifting assembly 26 is not activated, the sensor 2236 is positioned above the sensor tab 264; when the stacker needs to be overhauled, under the action of the control system 1, the lifting motor 262 is started and drives the lifting rotating shaft 261 to rotate, the sensing piece 264 rotates along with the lifting rotating shaft 261 and rises relative to the sensor 2236, when the sensing piece 264 is arranged between two opposite ends of the groove-type photoelectric sensor 2236, the sensor 2236 sends a signal to the control system 1, the lifting motor 262 stops rotating, the travelling mechanism 221 leaves the ground at the moment, the lifting height can be determined by the cooperation of the sensing piece 264 and the sensor 2236, and unnecessary power waste is avoided due to overhigh lifting.
Preferably, the sensing piece 264 is provided with an upper sensing end 2641 and a lower sensing end 2641, the two sensing ends 2641 are symmetrically arranged on two sides of the axial section of the lifting rotating shaft 261 and form an included angle of 60 degrees, when the lifting assembly 26 is not started, one sensing end 2641 of the sensing piece 264 is positioned below the sensor 2236, the other sensing end 2641 is positioned above the sensor 2236, and when the lifting rotating shaft 261 rotates, the sensing piece 264 rotates along with the lifting rotating shaft 261 and can enable the upper sensing end 2641 or the lower sensing end 2641 to be matched with the sensor 2236; when the stacker needs to be overhauled, under the action of the control system 1, the lifting motor 262 starts and drives the lifting rotating shaft 261 to rotate anticlockwise, the sensing piece 264 rotates anticlockwise along with the lifting rotating shaft 261 and rises relative to the sensor 2236, when the sensing end 2641 of the sensing piece 264 positioned below is arranged between two opposite ends of the groove-shaped photoelectric sensor 2236, the sensor 2236 sends a signal to the control system 1, the lifting motor 262 stops rotating, and the travelling mechanism 221 leaves the ground at the moment; when the stacker is overhauled, under the action of the control system 1, the lifting motor 262 is started and drives the lifting rotating shaft 261 to rotate clockwise, the sensing piece 264 rotates along with the lifting rotating shaft 261 and descends relative to the sensor 2236, and when two opposite ends of the groove-shaped photoelectric sensor 2236 send signals again, the lifting motor 262 stops rotating, and the travelling mechanism 221 contacts with the ground; when the sensing end 2641 of the sensing piece 264 above is disposed between the two opposite ends of the slot-type photoelectric sensor 2236, the sensor 2236 sends a signal to the control system 1 indicating that the lifting motor 262 is rotating excessively, and the control system 1 sends an early warning.
Preferably, the connecting frame 221 is provided with guide seats 2223 located at two sides of the first spring seat 2221, the bracket is provided with guide rods 2237 adapted to the guide seats 2223, the guide rods 2237 are sleeved in the guide seats 2223 and extend from the bottoms of the guide seats 2223, a gland 2238 is arranged at one end of each guide rod 2237 extending out of each guide seat 2223, and when jolt, the bracket 223 can only swing up and down, so that the stacker connected with the bracket 223 is prevented from side turning due to left-right offset, and meanwhile, the gland 2238 plays a limiting role on the ascending amplitude of the bracket 223.
Preferably, the first spring seat 2221 is disposed at the center of the engagement frame 221 and below the engagement frame 221, so that the traveling mechanism 221 is disposed at the center of the stacker when the stacker is placed on the housing 21 of the AGV module 2, and the stacker is smoothly moved.
Preferably, the axis of the second spring seat 2232 coincides with the axis of the flange 2231, the second spring seat 2232 is disposed at the center of the bracket 223 and below the bracket 223, the flange 2231 is disposed at the center above the bracket 223 and above the bracket 223, and when the bracket 223 jolts, the housing 21 connected with the bracket 223 can be caused to act in the same direction, so as to avoid rollover of the stacker.
Preferably, the bottom of the shell 21 is provided with a music box 212, so that the music can be played in operation to remind irrelevant personnel in a workplace to avoid in time.
Preferably, the front end of the shell 21 is provided with a bumper strip 213, which can protect the shell 21.
The stacker module 3 is arranged on the shell 21 and comprises a storage frame 31, a lifting frame 32, a fork 36, a lifting assembly 37, at least one conveying assembly 33 and at least a first riding wheel assembly 34, wherein the storage frame 31 and the lifting frame 32 are oppositely arranged on the shell 21, the conveying assembly 33 is arranged in the storage frame 31, the first riding wheel assembly 34 is arranged on the lifting frame 32 and is matched with the conveying assembly 33 in height, the lifting assembly 37 is arranged on the lifting frame 32, the fork 36 is connected with the lifting assembly 37, and the fork 36, the lifting assembly 37 and the conveying assembly 33 are electrically connected with the control system 1.
The conveying assembly 33 comprises a conveying frame 331 arranged on the storage frame 31, a conveying shaft 332 arranged on the front end of the conveying frame 331, driving wheels 333 arranged on the two ends of the conveying shaft 332, inner guide wheel shafts 334 uniformly distributed on the two sides of the conveying frame 331, inner guide wheels 335 arranged on the inner guide wheel shafts 334, two belts 336 rolling on the inner guide wheels 335 and the driving wheels 333 on the two sides of the conveying frame 331, and a conveying motor 337 arranged on the conveying frame 331 and in transmission connection with the conveying shaft 332; the first supporting wheel assembly 34 comprises a first supporting wheel frame 341 arranged on two sides of the lifting frame 32, at least one supporting wheel shaft 342 uniformly distributed on the first supporting wheel frame 341, and a supporting wheel 343 rolling on the supporting wheel shaft, wherein the height of the supporting wheel is matched with the height of the belt 336; the distance between the conveying assembly 33 and the first riding wheel assembly 34 is smaller than the width of the container 4, the distance between the conveying assembly 33 and the first riding wheel assembly 34 is larger than the width of the fork 36, and the distance between the storage rack 31 and the conveying rack 331 is larger than the width of the container 4.
Preferably, outer guide wheel shafts 338 and outer guide wheels 339 arranged on the outer guide wheel shafts 338 are uniformly distributed on the outer sides of the two ends of the conveying frame 331, and the height of the outer guide wheels 339 is matched with the height of the belt 336; the outer guide rollers 339 and the inner guide rollers 335 on each side of the carriage 331 are staggered to support and guide the container 4 in the process of conveying the container 4 along the belt 336, so that the pressure of the container 4 on the belt 336 is reduced, and the container 4 is conveyed smoothly.
Preferably, the rear end of the carriage 331 is provided with a second riding wheel assembly 35, the second riding wheel assembly 35 comprises a second riding wheel frame 351 arranged outside two ends of the carriage 331, at least one riding wheel shaft arranged on the second riding wheel frame 351, and a riding wheel 343 arranged on the rolling and riding wheel shaft 342, and the height of the riding wheel 343 is matched with the height of the belt 336; the second roller assembly 35 can support the cargo box 4 when the cargo box 4 is output or input to the storage rack 31; after the container 4 is stored in the portion of the carriage 331 located inside the storage frame 31, the first and second carriage 341 and 351 can support and temporarily store another container 4, increasing the storage capacity of the stacker.
Preferably, two conveying components 33 are arranged on the storage rack 31, and a first riding wheel component 34 respectively matched with the two conveying components 33 is arranged on the lifting rack 32; four containers 4 can be stored at a time, so that the storage capacity of the stacker and the turnover efficiency of workpieces are improved.
Preferably, the distance between the two conveyor assemblies 33 is adapted to the height of the cargo box 4; facilitating storage and transport of the cargo box 4.
Preferably, the rear end of the first carriage 341 is provided with a baffle 3411, which baffle 3411 prevents the container 4 from being output out of position, as the carrier assembly 33 outputs the container 4, and which baffle 3411 affects the removal of the forks 36.
Preferably, the first riding wheel assembly 34 is provided with a first cargo photoelectric switch 344; when the pallet fork 36 conveys the container 4 between the conveying assembly 33 and the first riding wheel assembly 34, the first cargo inspection photoelectric switch 344 detects the existence of the container 4 and transmits the existence to the control system 1, the control system 1 starts the conveying assembly 33 after receiving the signal of the first cargo inspection photoelectric switch 344, conveys the container 4 into the storage rack 1, or exists the container 4 between the first riding wheel assembly 34 and the second riding wheel assembly 35;
preferably, the lifting frame 32 is provided with a travel switch 321 which is matched with the first riding wheel assembly 34 in height, so that the conveying height of the fork 36 by the lifting assembly 37 can be accurately controlled, and the fork 36 is matched with the conveying assembly 33 for storing the cargo box 4 in height.
A second optoelectric switch 3314 is provided at the front end of the carriage 331.
Preferably, a first in-place photoelectric switch 345 is arranged at the rear end of the first carrier 341, a second in-place photoelectric switch 3311, a third in-place photoelectric switch 3312 and a fourth in-place photoelectric switch 3313 are sequentially arranged on the conveying frame 331, the distance between the first in-place photoelectric switch 345 and the second in-place photoelectric switch 3311 is adapted to the width of the container 4, and the distance between the third in-place photoelectric switch 3312 and the fourth in-place photoelectric switch 3313 is adapted to the width of the container 4; the first in-place photoelectric switch 345 and the second in-place photoelectric switch 3311 are matched, the third in-place photoelectric switch 3312 and the fourth in-place photoelectric switch 3313 are matched to prevent one in-place photoelectric switch from generating erroneous judgment, an error signal is sent to the control system 1, and only the first in-place photoelectric switch 345, the second in-place photoelectric switch 3311, the third in-place photoelectric switch 3312 and the fourth in-place photoelectric switch 3313 send in-place signals to the control system 1 at the same time, the control system 1 judges that the container 4 is in place.
Preferably, the storage rack 31 and the lifting rack 32 are connected through a connecting rod 38, a highest position limit switch 381 is arranged on the connecting rod 38, and a lowest position limit switch 215 is arranged on the shell 21, so that the limit positions of lifting and lowering of the fork 36 can be controlled, and the situation that the fork 36 is lifted too high or the fork 36 is lowered too much to enable the container 4 to be stored in the storage rack 31 is avoided.
When inventory is required, the fork 36 carries a container 4 between the conveying assembly 33 and the first riding wheel assembly 34 and is supported by the first riding wheel assembly 34 and the rear end of the conveying assembly 33, the conveying assembly 33 can convey the container 4 from the position between the rear end of the conveying frame 331 and the first riding wheel assembly 34 to the part of the conveying frame 331 positioned in the storage frame 31 for temporary storage, and then the fork 36 can carry the container 4 between the conveying assembly 33 and the towing wheel assembly and is supported by the first riding wheel assembly 34 and the rear end of the conveying assembly 33 for temporary storage; when the bottom layer conveying assembly 33 is fully loaded with the cargo box 4, the lifting assembly 37 drives the fork 36 to ascend, and when the travel switch 321 which is matched with the upper layer first riding wheel assembly 34 in height detects the position of the fork 36, the lifting assembly 37 stops acting, and the fork 36 starts to work newly, so that the cargo box 4 is fully loaded.
When the AGV module 2 drives the stacker 3 to run to a specified position, the pallet fork 36 firstly carries out the container 4 between the first supporting wheel assembly 34 and the second supporting wheel assembly 35; the control system 1 then controls the conveyor assembly 33 to deliver the containers 4 stored in the storage racks 31 between the first and second roller assemblies 34, 35 and then again out of the forks 36.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, or alternatives falling within the spirit and principles of the invention.
Claims (10)
1. The utility model provides a stacker of AGV mode which characterized in that: the stacker in the AGV mode comprises a control system, an AGV module and a stacker module driven by the AGV module;
the AGV module comprises a shell, a battery box arranged in the shell, a driving assembly arranged at the bottom of the shell, a magnetic navigation sensor assembly arranged in front of the driving assembly, an RFID sensor arranged in front of the driving assembly at the bottom of the shell, a laser scanning obstacle avoidance sensor arranged in front of the shell, and a lifting assembly arranged at the bottom of the shell and connected with the driving assembly, wherein the driving assembly, the magnetic navigation sensor assembly, the RFID sensor, the laser scanning obstacle avoidance sensor and the lifting assembly are electrically connected with the control system;
the bottom of the shell is provided with a universal wheel used for supporting the whole stacker and moving and steering under the drive of the driving assembly;
the driving assembly comprises a travelling mechanism, a connecting frame and a bracket, wherein the connecting frame is connected with the travelling mechanism, the bracket is elastically connected with the connecting frame, a flange used for being connected with the shell is arranged above the bracket, and the lifting assembly is arranged on the bracket;
the stacker module is arranged on the shell and comprises a storage frame, a lifting frame, a fork, a lifting assembly, at least one conveying assembly and a first riding wheel assembly, wherein the storage frame and the lifting frame are oppositely arranged on the shell, the conveying assembly is arranged in the storage frame, the first riding wheel assembly is arranged on the lifting frame and is matched with the conveying assembly in height, the lifting assembly is arranged on the lifting frame, the fork is connected with the lifting assembly, and the fork, the lifting assembly and the conveying assembly are electrically connected with the control system;
under the action of the control system, the pallet fork can carry the container to the conveying assembly and input the container into the storage rack for temporary storage by the conveying assembly when the inventory is needed, and can output the container for conveying the group price output from the storage rack under the action of the control system when the goods are needed to be output; the lifting component can drive the fork to lift under the action of the control system; adapting the height of the forks to the position of the transport assembly;
the control system can control the travelling mechanism to drive the stacker module to move according to the magnetic track in the signal transmission of the magnetic navigation sensor assembly, control the travelling mechanism to drive the shell to rotate in the signal transmission of the laser scanning obstacle avoidance sensor to avoid the obstacle of the stacker, identify the landmark card in the signal of the RFID sensor to convey the stacker to a specified position, and enable the travelling mechanism to leave the ground under the action of the lifting assembly when the stacker needs to be maintained.
2. The AGV mode stacker according to claim 1 wherein: the travelling mechanism comprises a driving frame and driving wheels which are arranged on two sides of the driving frame and are respectively connected with driving components which are respectively and independently arranged, and the driving frame is connected with the connecting frame;
the lifting assembly comprises a lifting rotating shaft arranged on the bracket through a swivel mount, lifting arms arranged at two ends of the lifting rotating shaft, and a lifting motor arranged on the bracket through a lifting seat and in transmission connection with the lifting rotating shaft, and the connecting frame is provided with a tension plate matched with the lifting arms;
the conveying assembly comprises a conveying frame arranged on the storage frame, a conveying shaft arranged at the front end of the conveying frame, driving wheels arranged at the two ends of the conveying shaft, inner guide wheel shafts uniformly distributed at the two sides of the conveying frame, inner guide wheels arranged on the inner guide wheel shafts, two belts rolling on the inner guide wheels at the two sides of the conveying frame and the driving wheels, and a conveying motor arranged on the conveying frame and in transmission connection with the conveying shaft;
the first riding wheel assembly comprises a first riding wheel frame arranged on two sides of the lifting frame, at least one riding wheel shaft uniformly distributed on the first riding wheel frame, and riding wheels rolling on the riding wheel shaft, wherein the height of the riding wheels is matched with the height of the belt;
the distance between the conveying assembly and the first riding wheel assembly is smaller than the width of the cargo box, the distance between the conveying assembly and the first riding wheel assembly is larger than the width of the fork, and the distance between the storage frame and the conveying frame is larger than the width of the cargo box.
3. The AGV mode stacker according to claim 2 wherein: the lifting rotating shaft is provided with an induction piece, the bracket is provided with a sensor seat, the sensor seat extends towards the induction piece, the sensor seat is provided with a sensor which is used for being matched with the induction piece, and when the lifting assembly is not started, the sensor is positioned above the induction piece;
the outer guide wheel shafts and the outer guide wheels arranged on the outer guide wheel shafts are uniformly distributed on the outer sides of the two ends of the conveying frame, the outer guide wheels and the inner guide wheels on each side of the conveying frame are arranged in a staggered mode, and the heights of the outer guide wheels are matched with the heights of the belts.
4. The AGV mode stacker according to claim 3 wherein: the induction piece is provided with an upper induction end and a lower induction end, the two induction ends are symmetrically arranged on two sides of the section of the axis of the lifting rotating shaft and form an included angle smaller than 90 degrees, when the lifting assembly is not started, one induction end of the induction piece is positioned below the sensor, the other induction end of the induction piece is positioned above the sensor, and when the lifting rotating shaft rotates, the induction piece rotates along with the lifting rotating shaft and can enable the upper induction end or the lower induction end to be matched with the sensor;
the rear end of the conveying frame is provided with a second riding wheel assembly, the second riding wheel assembly comprises a second riding wheel frame arranged on the outer sides of two ends of the conveying frame, at least one riding wheel shaft arranged on the second riding wheel frame, and riding wheels arranged on the riding wheel shafts, wherein the height of each riding wheel is matched with the height of each belt.
5. The AGV mode stacker according to claim 1 wherein: the connecting frame is provided with a first spring seat and a damping spring arranged in the first spring seat, a flange used for being connected with the stacker and a second spring seat sleeved in the first spring seat are respectively arranged above and below the bracket, and the damping spring is sleeved on the second spring seat and is pressed between the first spring seat and the bracket;
the storage rack is provided with two conveying components, and the lifting rack is provided with a first riding wheel component which is respectively matched with the two conveying components.
6. The AGV mode stacker according to claim 5 wherein: the connecting frame is provided with guide seats positioned at two sides of the first spring seat, the bracket is provided with guide rods matched with the guide seats, the guide rods are sleeved in the guide seats and extend out of the bottoms of the guide seats, and a gland is arranged at one end of each guide rod extending out of the guide seats;
the distance between the two conveyor assemblies is adapted to the height of the cargo box.
7. The AGV mode stacker according to claim 6 wherein: the first spring seat is arranged at the center of the connecting frame and is positioned below the connecting frame;
the second spring seat is arranged at the center of the bracket and below the bracket, the flange is arranged at the center of the bracket above the bracket and above the bracket, and the axis of the second spring seat coincides with the axis of the flange.
8. The AGV mode stacker according to claim 2 wherein: the rear end of the first carrier is provided with a baffle, and the front end of the baffle is provided with a first goods checking photoelectric switch; the lifting frame is provided with a travel switch which is matched with the first riding wheel component in height, and the front end of the conveying frame is provided with a second goods checking photoelectric switch.
9. The AGV mode stacker according to claim 8 wherein: the rear end of the first carrier is provided with a first in-place photoelectric switch, the conveying frame is sequentially provided with a second in-place photoelectric switch, a third in-place photoelectric switch and a fourth in-place photoelectric switch, the distance between the first in-place photoelectric switch and the second in-place photoelectric switch is matched with the width of a container, and the distance between the third in-place photoelectric switch and the fourth in-place photoelectric switch is matched with the width of the container.
10. The AGV mode stacker according to claim 1 wherein: the storage rack is connected with the lifting rack through a connecting rod, the connecting rod is provided with a highest position limit switch, and the shell is provided with a lowest position limit switch;
the bottom of the shell is provided with a music box; and an anti-collision strip is arranged at the front end of the shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811269619.7A CN109375621B (en) | 2018-10-29 | 2018-10-29 | Stacker of AGV mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811269619.7A CN109375621B (en) | 2018-10-29 | 2018-10-29 | Stacker of AGV mode |
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| Publication Number | Publication Date |
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| CN109375621A CN109375621A (en) | 2019-02-22 |
| CN109375621B true CN109375621B (en) | 2023-12-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| DD115465A1 (en) * | 1974-09-06 | 1975-10-05 | ||
| JP2007141019A (en) * | 2005-11-21 | 2007-06-07 | Asyst Shinko Inc | Conveyance control unit, conveyance control program, and conveyance control method |
| AU2008255183A1 (en) * | 2007-12-10 | 2009-06-25 | Visy R & D Pty Ltd | Improvements in palletising systems |
| CN103412593A (en) * | 2013-08-16 | 2013-11-27 | 成都四威高科技产业园有限公司 | Submarine AGV movement transferring robot |
| CN104142682A (en) * | 2013-11-15 | 2014-11-12 | 上海快仓智能科技有限公司 | Goods sorting method based on intelligent AGV |
| JP2016088712A (en) * | 2014-11-07 | 2016-05-23 | 村田機械株式会社 | Physical distribution system, and method for creating and utilizing information transmission member used in the physical distribution system |
| CN209281246U (en) * | 2018-10-29 | 2019-08-20 | 广东埃华路机器人工程有限公司 | A kind of piler of AGV mode |
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2018
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DD115465A1 (en) * | 1974-09-06 | 1975-10-05 | ||
| JP2007141019A (en) * | 2005-11-21 | 2007-06-07 | Asyst Shinko Inc | Conveyance control unit, conveyance control program, and conveyance control method |
| AU2008255183A1 (en) * | 2007-12-10 | 2009-06-25 | Visy R & D Pty Ltd | Improvements in palletising systems |
| CN103412593A (en) * | 2013-08-16 | 2013-11-27 | 成都四威高科技产业园有限公司 | Submarine AGV movement transferring robot |
| CN104142682A (en) * | 2013-11-15 | 2014-11-12 | 上海快仓智能科技有限公司 | Goods sorting method based on intelligent AGV |
| JP2016088712A (en) * | 2014-11-07 | 2016-05-23 | 村田機械株式会社 | Physical distribution system, and method for creating and utilizing information transmission member used in the physical distribution system |
| CN209281246U (en) * | 2018-10-29 | 2019-08-20 | 广东埃华路机器人工程有限公司 | A kind of piler of AGV mode |
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| CN109375621A (en) | 2019-02-22 |
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