CN110422540A - A kind of automated guided vehicle and a kind of warehousing system - Google Patents
A kind of automated guided vehicle and a kind of warehousing system Download PDFInfo
- Publication number
- CN110422540A CN110422540A CN201910863848.XA CN201910863848A CN110422540A CN 110422540 A CN110422540 A CN 110422540A CN 201910863848 A CN201910863848 A CN 201910863848A CN 110422540 A CN110422540 A CN 110422540A
- Authority
- CN
- China
- Prior art keywords
- shelf
- guided vehicle
- automated guided
- transmission unit
- chassis
- 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
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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
Abstract
The invention discloses a kind of automated guided vehicle and a kind of warehousing system, the automated guided vehicle is provided in the warehousing system.In the automated guided vehicle: transmission unit is arranged on door frame, for object to be carried in shelf and is used to take out object out of shelf；Door frame is connected in the top on chassis；The side on chassis is arranged in auxiliary wheel；When automated guided vehicle on the major trunk roads for be relatively distant from shelf when driving, auxiliary wheel retract chassis in；When object is carried in shelf by transmission unit, and when transmission unit takes out object out of shelf, auxiliary wheel stretches out outside chassis, and protrudes into the bottom space of shelf.The present invention can be improved the stability of automated guided vehicle, and be capable of providing the capacity utilization of warehousing system.
Description
This application claims on 09 10th, 2019 submission Patent Office of the People's Republic of China, application No. is 201910852573.X, invention
A kind of a kind of priority of the Chinese patent application of entitled " automated guided vehicle and warehousing system ", entire contents pass through
Reference is incorporated in the present application.
Technical field
The present invention relates to automated warehousing logistics technology, in particular to a kind of automated guided vehicle and a kind of storage
System.
Background technique
Warehouse logistics refer mainly to utilize self-built or lease storehouse, place, storage, keeping, handling, dispatching cargo.
Robot cargo transport technology in recent years under the overall situation of e-commerce rapid development, in modern warehouse logistics field
Have become hot spot at present.Wherein, the artificial automated guided vehicle of machine (the English translation Automated for freighting automatically
Guided Vehicle, abridge AGV).
Compared with traditional shipping mode, AGV has high degree of automation, flexible in application, safe and reliable, high-efficient etc. many
Advantage, these advantages are but also robot cargo transport technology becomes the important technology in modern logistics warehousing system.
In the prior art, the chassis width of AGV has to be less than the distance between adjacent shelf (i.e. walkway clearance), not so
It can not walk between shelf.As it can be seen that the size-constrained walkway clearance between adjacent shelf in the chassis of AGV.
In practical work process, in order to guarantee higher warehouse space utilization rate, walkway clearance will not generally be done too greatly,
This but also the chassis AGV size cannot do it is too big, thus, when AGV transmits container, the transports such as be easy to appear shaking, topple over not
Stable risk.If making that its chassis area is larger, lateral length is longer to improve the stability of AGV, then correspondingly will need
The distance between adjacent shelf becomes larger (even walkway clearance is larger), and it is lower that this will lead to warehouse space utilization rate.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of automated guided vehicle and a kind of warehousing system, to improve
The stability of automated guided vehicle improves warehouse space utilization rate.
To achieve the above object, the invention provides the following technical scheme:
A kind of automated guided vehicle, the automated guided vehicle include door frame, transmission unit, chassis and auxiliary wheel,
Wherein:
The transmission unit is arranged on the door frame, for object to be carried in shelf and is used for the target
Object takes out out of described shelf；
The door frame is connected in the top on the chassis；
The side on the chassis is arranged in the auxiliary wheel；
When the automated guided vehicle is in the first working condition, the auxiliary wheel is retracted in the chassis, described
First working condition refers to: when the automated guided vehicle on the major trunk roads for being relatively distant from the shelf when driving；
When the automated guided vehicle is in the second working condition, the auxiliary wheel stretches out outside the chassis, and stretches
In the bottom space for entering the shelf, second working condition refers to: when the object is carried to by the transmission unit
When in the shelf, and when the transmission unit takes out the object out of described shelf.
Preferably, in above-mentioned automated guided vehicle, when the automated guided vehicle is in third working condition,
The auxiliary wheel retracts in the chassis, and the third working condition refers to: when the automated guided vehicle is by adjacent
When being travelled in the passageway that the shelf are constituted and not carrying and take out the object.
Preferably, in above-mentioned automated guided vehicle, on the chassis, opposite two sides are respectively arranged with the auxiliary
Wheel；
Alternatively, only unilateral side is provided with the auxiliary wheel on the chassis.
Preferably, in above-mentioned automated guided vehicle, multilayered memory unit is provided on the shelf；
The transmission unit can go up and down along the stringer of the door frame and stop at different height and positions, by the mesh
Mark object is carried in the storage unit of different height position, or by the object from positioned at different height position
It is taken out in the storage unit.
Preferably, in above-mentioned automated guided vehicle, the exit of the transmission unit is provided with hook drawing mechanism, described
Drawing mechanism is hooked for the object to be carried in the shelf and is used to take out the object out of described shelf；
Alternatively, the exit of the transmission unit is provided with retractable fork, the retractable fork is used for the object
It is carried in the shelf and for taking out the object out of described shelf；
Alternatively, the exit of the transmission unit, which is provided with, holds mechanism, the mechanism that holds is used for the object
It is carried in the shelf and for taking out the object out of described shelf；
Alternatively, the exit of the transmission unit is provided with mechanical arm, the mechanical arm is for carrying the object
In to the shelf and for the object to be taken out out of described shelf.
Preferably, in above-mentioned automated guided vehicle, the transmission unit includes can be along the stringer liter of the door frame
The hook drawing mechanism for dropping and stopping at the crane of different height and positions and being arranged on the crane, the hook drawing mechanism packet
Fixed plate is included, telescopic first expansion plate is provided in the fixed plate, is provided on first expansion plate telescopic
Second expansion plate, one end that second expansion plate is located in the fixed plate are provided with push plate, and the other end, which is provided with, can be rotated
To pick and place the driving lever of the object.
Preferably, it in above-mentioned automated guided vehicle, is provided on the door frame multiple for storing the object
Fixed tray, the object on multiple fixed trays can be carried to respectively the shelf by the transmission unit
It is interior, also, multiple objects in the shelf can be taken out respectively and are individually positioned in described by the transmission unit
On fixed tray.
Preferably, in above-mentioned automated guided vehicle, multiple fixed trays are successively solid with the door frame along longitudinal direction
Even.
A kind of warehousing system, including automated guided vehicle and shelf, the automated guided vehicle are such as above institute
The automated guided vehicle stated.
Preferably, in above-mentioned warehousing system, the bottom of the shelf is provided with bottom space, and the auxiliary wheel stretches out institute
When stating outside chassis, it can extend into the bottom space of the shelf.
It can be seen from the above technical proposal that in automated guided vehicle provided by the invention and warehousing system, in order to increase
The stability for adding automated guided vehicle has additional telescopic auxiliary wheel in the side on chassis, executes carrying in transmission unit
When task, auxiliary wheel stretches out, to further widen the cross-brace width on chassis, improves the stability on chassis, avoids automatic
Guidance transport vehicle occurs the unstable risk of transport such as shaking, topple over.
Moreover, in automated guided vehicle provided by the invention and warehousing system:
(1) since the stability for improving chassis will so as to which the door frame of automated guided vehicle to be arranged higher
The height of shelf is arranged higher, the number of plies of storage element for storing object is arranged more, increases so as to reach
Add the purpose of warehouse short transverse utilization rate；
(2) due to auxiliary wheel regracting, it is not necessary to which the cross-brace width for widening bottom plate is led from without widening main channel
Channel width is smaller, then is conducive to increase warehouse utilization rate in the horizontal direction；
(3) since auxiliary wheel can extend into the bottom space of shelf, so as to by the mistake between two adjacent shelf
Road width is arranged smaller, slightly larger than the width of door frame and transmission unit, so as to by reducing passageway between shelf
The mode of width increases warehouse utilization rate in the horizontal direction.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of the automated guided vehicle provided in the first specific embodiment of the invention；
Fig. 2 is the structural schematic diagram of the hook drawing mechanism provided in the first specific embodiment of the invention；
Fig. 3 is the structural schematic diagram of the automated guided vehicle provided in the second specific embodiment of the invention；
Fig. 4 is the structural schematic diagram of the hook drawing mechanism provided in the second specific embodiment of the invention；
Fig. 5 is the workflow that the automated guided vehicle provided in the second specific embodiment of the invention picks and places object
Figure；
Fig. 6 is the basic structure schematic diagram of the warehousing system provided in the 4th specific embodiment of the invention；
Fig. 7 is the overall structure diagram of the warehousing system provided in the 4th specific embodiment of the invention；
Fig. 8 is the overall structure diagram of the warehousing system provided in the 5th specific embodiment of the invention；
Fig. 9 is the structural schematic diagram of the shelf provided in the 7th specific embodiment of the invention.
Wherein:
1- automated guided vehicle (i.e. AGV), 2- shelf, 3- object,
11- door frame, 12- transmission unit, the chassis 13-, 14- auxiliary wheel,
21- supporting leg,
110- fixed tray,
120- driving lever, 121- crane, the second expansion plate of 122-,
The first expansion plate of 123-, 124- fixed plate, 125- push plate.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
First specific embodiment
Fig. 1 and Fig. 2 are please referred to, Fig. 1 is the structure of the automated guided vehicle provided in the first specific embodiment of the invention
Schematic diagram；Fig. 2 is the structural schematic diagram of the hook drawing mechanism provided in the first specific embodiment of the invention.
The first specific embodiment of the embodiment of the present invention provides a kind of automated guided vehicle, the automated guided vehicle packet
Include door frame 11, transmission unit 12, chassis 13 and auxiliary wheel 14.Wherein: transmission unit 12 is arranged on door frame 11, is used for target
Object 3 is carried in shelf 2, and for taking out object 3 out of shelf 2；Door frame 11 is connected in the top on chassis 13；Auxiliary wheel
14 are arranged in the side on chassis 13.
Specifically, if shelf 2 are that structure shown in Fig. 6 (on two adjacent shelf 2, is provided with support merely on outer side
Leg 21, inside is without supporting leg 21), then there are two types of selections for the control program of the auxiliary wheel 14 in automated guided vehicle:
(a) the first control program are as follows:
Auxiliary wheel 14 is only stretched out when transmission unit 12 executes carrying task, when transmission unit 12 has executed carrying task
Auxiliary wheel 14 is withdrawn.Detailed process is as follows:
When automated guided vehicle is in the first working condition, auxiliary wheel 14 is retracted in chassis 13, the first work shape
State refers to, when automated guided vehicle on the major trunk roads for being relatively distant from shelf 2 when driving, as " the first working condition "；
When automated guided vehicle is in the second working condition, auxiliary wheel 14 stretches out outside chassis 13, and protrudes into shelf 2
(Fig. 6 is please referred to) in bottom space, which refers to, when object 3 is carried in shelf 2 by transmission unit 12
When, and when transmission unit 12 takes out object 3 out of shelf 2, be " the second working condition " (at this point, automatic guidance
Transport vehicle is located in the passageway being made of adjacent shelf 2, and stops at fixed position)；
When automated guided vehicle is in third working condition, auxiliary wheel 14 is retracted in chassis 13, third work shape
State refers to, when automated guided vehicle travels in the passageway being made of adjacent shelf 2 and do not carry and take out object 3
(that is, when automated guided vehicle travels in the passageway being made of adjacent shelf 2 and is not carried out carrying task).
(b) second of control program are as follows:
When automated guided vehicle enters in the passageway of the composition of adjacent shelf 2, then auxiliary wheel 14 stretches out outside chassis 13；When certainly
When transmission unit 12 in dynamic guidance transport vehicle has executed the carrying object 3 of the task and will return to main channel, auxiliary wheel
14 are retracted in chassis 13.Described " main channel " refers in warehousing system herein, far from shelf 2 only for automatic guidance transport
The major trunk roads of vehicle traveling, reference can be made to the big arrow in Fig. 7 and Fig. 8.
That is, auxiliary wheel 14 is only retracted in chassis 13 in the first working condition in second of control program (b)；When
Automated guided vehicle enters in the passageway of the composition of adjacent shelf 2, is whether in above-mentioned second working condition, is in
Third working condition is stated, auxiliary wheel 14 stretches out outside chassis 13 always.It (when using second of control program (b), needs such as Fig. 6 extremely
Shown in Fig. 8, the inside of the shelf 2 of passageway two sides is not provided with supporting leg 21.)
It can be seen from the above technical proposal that being in the automated guided vehicle that the first specific embodiment of the invention provides
The stability for increasing automated guided vehicle, has additional telescopic auxiliary wheel 14 in the side on chassis 13, in transmission unit
When 12 execution carrying task, auxiliary wheel 14 stretches out, to further widen the cross-brace width on chassis 13, improves chassis 13
Stability avoids automated guided vehicle from occurring the unstable risk of transport such as shaking, topple over.
Moreover, in the automated guided vehicle that the first specific embodiment of the invention provides:
(1) due to improving the stability on chassis 13, so as to the door frame 11 of automated guided vehicle is arranged compared with
Height, is arranged higher, the number of plies of the storage element that is used to store object 3 is arranged more by the height of shelf 2, so as to
Achieve the purpose that increase warehouse short transverse utilization rate；
(2) due to 14 regracting of auxiliary wheel, it is not necessary to the cross-brace width for widening bottom plate 13, from without widening main lead to
Road, main channel width is smaller, then is conducive to increase warehouse utilization rate in the horizontal direction；
(3) since auxiliary wheel 14 can extend into the bottom space of shelf 2, so as to will be between two adjacent shelf 2
Walkway clearance be arranged smaller, slightly larger than the width of door frame 11 and transmission unit 12, so as to by reducing shelf 2
Between walkway clearance mode, increase warehouse utilization rate in the horizontal direction.
Specifically, described object 3 herein is container or other transported pieces.
Specifically, auxiliary wheel 14 can be flexible by motor driven, and the driving of motor is controlled by sensor and controller
Direction and start and stop.
Specifically, on chassis 13, opposite two sides are respectively arranged with auxiliary wheel 14.
Specifically, the exit of transmission unit 12 is provided with fetching device, and the fetching device is for object 3 to be carried to
In shelf 2 and for object 3 to be taken out out of shelf 2.The fetching device is specially to hook drawing mechanism or retractable fork, or press from both sides
Embrace mechanism or mechanical arm etc..
Specifically, multilayered memory unit is provided on shelf 2；Transmission unit 12 can go up and down and stop along the stringer of door frame 11
Only position at various height, object 3 is carried in the storage unit of different height position, or by object 3
It is taken out out of storage unit that be located at different height position.
Specifically, as shown in Figure 1, being provided with a transmission unit 12 in door frame 11, single can carry an object 3.
It preferably, can be with crane 121 along door frame 11 as shown in Figure 1, transmission unit 12 is arranged on crane 121
Stringer oscilaltion；Also, by driving device, transmission unit 12 can stretch on crane 121, in order in shelf 2
Upper pick-and-place object 3.
Preferably, as shown in Fig. 2, transmission unit 12 picks and places object 3 by hooking drawing mechanism.The hook drawing mechanism includes fixing
Plate 124, the first expansion plate 123, the second expansion plate 122, driving lever 120 and push plate 125.
When needing transmission unit 12 to take out and be transported to destination an object 3 in shelf 2, transmission unit 12
The course of work are as follows:
Firstly, automated guided vehicle is moved to 3 position of object；
Then, transmission unit 12 rises or falls along door frame 11 to 3 place height of object, the arrival end of transmission unit 12
Alignment target object 3；
Finally, reaching the two of object 3 outside the first expansion plate 123 stretching fixed plate 124 synchronous with the second expansion plate 122
Side, after object 3 is blocked in the rotation of driving lever 120, the first expansion plate 123 and the resynchronisation of the second expansion plate 122 retract fixed plate 124
Interior, so far, object 3 is picked and placed to transmission unit 12, is then transported again with automated guided vehicle to target location.
When needing transmission unit 12 to put back to object 3 on shelf 2, the course of work of transmission unit 12 is exactly the opposite,
Specifically:
Firstly, automated guided vehicle is moved near shelf 2 with object 3, and it is moved to and needs to place the target
Storage unit (i.e. Destination Storage Unit) position of object 3；
Then, transmission unit 12 rises or falls along door frame 11 to corresponding height, and the arrival end of transmission unit 12 is directed at mesh
Mark storage unit；
Later, outside the first expansion plate 123 stretching fixed plate 124 synchronous with the second expansion plate 122, at this point, passing through push plate
125, object 3 pushes in Destination Storage Unit again；
Finally, driving lever 120 is rotated away to vertical position, the first expansion plate 123 is synchronous with the second expansion plate 122 to be retracted admittedly
In fixed board 124, so far just complete object 3 being put back in shelf 2 for task.
When automated guided vehicle carries object 3, due to broadening the cross-brace on chassis 13 by auxiliary wheel 14
Width, thus, even the storage unit number of plies on shelf 2 is more, door frame 11 is higher, and automated guided vehicle will not occur
The risks of instability such as shake and topple over.
Second specific embodiment
Fig. 3 to Fig. 5 is please referred to, Fig. 3 is the structure of the automated guided vehicle provided in the second specific embodiment of the invention
Schematic diagram；Fig. 4 is the structural schematic diagram of the hook drawing mechanism provided in the second specific embodiment of the invention；Fig. 5 is the present invention second
The automated guided vehicle provided in specific embodiment picks and places the work flow diagram of object.
A kind of automated guided vehicle is provided in second specific embodiment of the invention, the automated guided vehicle and this hair
The difference of the automated guided vehicle provided in bright first specific embodiment is only that: being provided on door frame 11 multiple for storing
Object 3 on multiple fixed trays 110 can be carried to respectively shelf by the fixed tray 110 of object 3, transmission unit 12
In 2, also, multiple objects 3 in shelf 2 can be taken out respectively and be individually positioned in fixed tray 110 by transmission unit 12
On.
Specifically, multiple fixed trays 110 are successively connected with door frame 11 along longitudinal direction.
Specifically, fixed tray 110 and transmission unit 12 are located at the two sides of door frame 11, and the setting of transmission unit 12 is rising
It drops on frame 121, it can be with crane 121 along 11 stringer oscilaltion of door frame；Also, pass through driving device, 12 energy of transmission unit
It is enough to rotate and stretch on crane 121, in order to which object 3 is carried and picked and placed between fixed tray 10 and shelf 2.
Preferably, transmission unit 12 is arranged on crane 121, can rise up and down with crane 121 along 11 stringer of door frame
Drop；Also, by driving device, transmission unit 12 can be rotated and be stretched on crane 121, in order in fixed tray 10
Object 3 is carried and picked and placed between shelf 2.
Specifically, please refer to Fig. 3 to Fig. 5, when need transmission unit 12 by the first object object and the second target in shelf 2
When object successively takes out and is transported to destination respectively:
Firstly, automated guided vehicle is moved to first object object position, transmission unit 12 rise along door frame 11 or
The arrival end of height where dropping to first object object, transmission unit 12 is directed at first object object；(reference can be made to first in Fig. 5
Walk attached drawing a)
Then, outside the first expansion plate 123 stretching fixed plate 124 synchronous with the second expansion plate 122, first object object is reached
Two sides；(reference can be made to the second step attached drawing b) in Fig. 5
Then, after first object object is blocked in the rotation of driving lever 120, the first expansion plate 123 and the resynchronisation contracting of the second expansion plate 122
It returns in fixed plate 124, so far, first object object is picked and placed to transmission unit 12；(reference can be made to the third step attached drawing c) in Fig. 5
Then, transmission unit 12 enables the arrival end of transmission unit 12 be directed at one by rotation an angle of 90 degrees even lifting action
A vacant fixed tray 10；Outside first expansion plate 123 stretching fixed plate 124 synchronous with the second expansion plate 122, at this point, passing through
First object object can be pushed on the fixed tray 10 by push plate 125；(reference can be made to the 4th step attached drawing d) in Fig. 5
Then, the translation of transmission unit 12 is retracted on crane 121；(reference can be made to the 5th step attached drawing e) in Fig. 5
Then, automated guided vehicle is moved to the second object position, and the second object is carried to another
On vacant fixed tray 10, handling process is same as above；
Finally, carrying out putting part by the carrying movement opposite with above-mentioned pickup process.
When needing to carry out pickup to one or more objects 3 or put part, the course of work can be according to the above process
Analogize, repeats no more herein.
To sum up, as shown in figure 3, in the automated guided vehicle provided in the second specific embodiment of the invention, door frame
11 can be with single target object 3, can also be with multiple objects 3, can the one or more objects 3 of single carrying.
In addition, the control program of the auxiliary wheel 14 in the automated guided vehicle provided in the second specific embodiment of the invention
With the first control program (a) and second of control program (b) provided in the first specific embodiment of the present invention.
Third specific embodiment
A kind of automated guided vehicle is provided in third specific embodiment of the present invention, the automated guided vehicle and this hair
The automated guided vehicle that is there is provided in bright first specific embodiment it is similar (or with provide in the second specific embodiment of the invention from
Dynamic guidance transport vehicle is similar), difference is only that: on chassis 13, the side in carry direction being only provided with auxiliary wheel 14.
(for example, being provided only with auxiliary wheel 14 shown in figure in the automated guided vehicle, opposite side can be not provided with auxiliary reference can be made to Fig. 1
Help wheel 14.)
Since automated guided vehicle is when transporting goods, it is easiest to topple over to the direction for being handled upside down object 3, and it is seldom
Reverse strike, thus, only in this side, setting auxiliary wheel 14 can also achieve the effect that overturning-preventing, anti-rock.
4th specific embodiment
Fig. 6 and Fig. 7 are please referred to, Fig. 6 is the basic unit of the warehousing system provided in the 4th specific embodiment of the invention
Structural schematic diagram；Fig. 7 is the overall structure diagram of the warehousing system provided in the 4th specific embodiment of the invention.
4th specific embodiment of the invention provides a kind of warehousing system, which includes automated guided vehicle 1
With shelf 2, automated guided vehicle 1 is the automated guided vehicle provided in above-mentioned first specific embodiment.Moreover, shelf 2
Bottom be provided with bottom space, auxiliary wheel 14 stretch out chassis 13 it is outer when, can extend into the bottom space of shelf 2.
Specifically, reference can be made to Fig. 6 and Fig. 7, the shelf 2 positioned at passageway two sides, inside bottom are not provided with supporting leg 21, or
Supporting leg 21 on the inside of it is all truncated person；Also, be located at passageway two sides two shelf 2 between, by top cross-bar into
Row support.(in shelf 2, the side close to passageway is inside, and the side for being relatively distant from passageway is outside)
To can not only make walkway clearance accomplish minimum (just slightly larger than box width), while can make with chassis
The automated guided vehicle that width is greater than walkway clearance passes through.
As it can be seen that in the warehousing system that the 4th specific embodiment of the invention provides:
(1) in order to improve AGV stability, by chassis design at transformable structure.Increasing on the chassis of AGV 13 can stretch
The auxiliary wheel 14 of contracting, when transmission unit 12 works, auxiliary wheel 14 stretches out, and further widens chassis 13, improves the steady of chassis 13
It is qualitative；
(2) in order to improve warehouse space utilization rate, the structure of shelf 2 is changed, reduces the mistake between adjacent shelf 2
Road width cancels the supporting leg 21 of 2 inside of shelf (close to passageway two sides), makes in the case where chassis is widened, auxiliary wheel stretches out
It remains to pass through；
(3) bottom of shelf 2 is provided with the space passed through for chassis 13, stretches accordingly even when walkway clearance is less than auxiliary wheel 14
The width of rear chassis 13 out, AGV can also be passed through.
In the warehousing system that 4th specific embodiment of the invention provides, the control of the auxiliary wheel 14 in automated guided vehicle
Scheme is the same as the first control program (a) and second of control program (b) provided in the first specific embodiment of the invention.
5th specific embodiment
Referring to Fig. 8, Fig. 8 is the overall structure diagram of the warehousing system provided in the 5th specific embodiment of the invention.
5th specific embodiment of the invention provides a kind of warehousing system, and the warehousing system and the present invention the 4th are embodied
The difference for the warehousing system that example provides is only that: the automatic guidance fortune in the warehousing system that the 5th specific embodiment of the invention provides
Defeated vehicle 1 is the automated guided vehicle provided in above-mentioned second specific embodiment.
6th specific embodiment
6th specific embodiment of the invention provides a kind of warehousing system, and the warehousing system and the present invention the 4th are embodied
The difference for the warehousing system that example provides is only that: the automatic guidance fortune in the warehousing system that the 6th specific embodiment of the invention provides
Defeated vehicle 1 is the automated guided vehicle provided in above-mentioned third specific embodiment.
7th specific embodiment
7th specific embodiment of the invention provides a kind of warehousing system, and the warehousing system and the present invention the 4th are embodied
The warehousing system that there is provided is similar in example or the 5th specific embodiment or the 6th specific embodiment, and difference is only that, the present invention the
In the warehousing system that seven specific embodiments provide:
Multiple supporting legs 21 (reference can be made to Fig. 9) are provided with inside and outside the bottom of each shelf 2；It is stretched in auxiliary wheel 14
(at this point, automated guided vehicle stops, object 3 is carried in shelf 2 or by object 3 from goods by transmission unit 12 when out
Taken out in frame 2), the bottom corresponding position of shelf 2 is not provided with supporting leg 21；
The control program of auxiliary wheel 14 in automated guided vehicle only can be using in the first specific embodiment of the invention
The first described control program (a), that is, auxiliary wheel 14 is only stretched out when transmission unit 12 executes carrying task, single in transmission
Auxiliary wheel 14 is withdrawn when member 12 has executed carrying task.Detailed process can be found in the first specific embodiment of the invention, herein again
It repeats no more.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of automated guided vehicle, which is characterized in that the automated guided vehicle includes door frame (11), transmission unit
(12), chassis (13) and auxiliary wheel (14), in which:
The transmission unit (12) is arranged on the door frame (11), for object (3) to be carried in shelf (2) and be used for
The object (3) is taken out out of the shelf (2)；
The door frame (11) is connected in the top of the chassis (13)；
Side of auxiliary wheel (14) setting in the chassis (3)；
When the automated guided vehicle is in the first working condition, the auxiliary wheel (14) is retracted in the chassis (3), institute
The first working condition is stated to refer to: when the automated guided vehicle on the major trunk roads for being relatively distant from the shelf (2) when driving；
When the automated guided vehicle is in the second working condition, the auxiliary wheel (14) stretches out the chassis (3) outside, and
It protrudes into the bottom space of the shelf (2), second working condition refers to: when the transmission unit (12) is by the target
Object (3) be carried to the shelf (2) it is interior when, and when the transmission unit (12) by the object (3) from the shelf (2)
When interior taking-up.
2. automated guided vehicle according to claim 1, which is characterized in that when the automated guided vehicle is in the
When three working conditions, the auxiliary wheel (14) is retracted in the chassis (3), and the third working condition refers to: when described automatic
When guidance transport vehicle travels in the passageway being made of the adjacent shelf (2) and does not carry and take out the object (3).
3. automated guided vehicle according to claim 1, which is characterized in that on the chassis (3), opposite two sides point
It is not provided with the auxiliary wheel (14)；
Alternatively, only unilateral side is provided with the auxiliary wheel (14) on the chassis (3).
4. automated guided vehicle according to any one of claims 1 to 3, which is characterized in that be arranged on the shelf (2)
There is multilayered memory unit；
The transmission unit (12) can go up and down along the stringer of the door frame (11) and stop at different height and positions, by institute
It states object (3) to be carried in the storage unit of different height position, or the object (3) is different from being located at
It is taken out in the storage unit of height and position.
5. automated guided vehicle according to claim 4, which is characterized in that the exit of the transmission unit (12) is set
It is equipped with hook drawing mechanism, and the hook drawing mechanism is used to the object (3) is carried in the shelf (2) and be used for the mesh
Object (3) are marked to take out out of the shelf (2)；
Alternatively, the exit of the transmission unit (12) is provided with retractable fork, the retractable fork is used for the object
(3) it is carried in the shelf (2) and for taking out the object (3) out of the shelf (2)；
Alternatively, the exit of the transmission unit (12) is provided with and holds mechanism, the mechanism that holds is used for the object
(3) it is carried in the shelf (2) and for taking out the object (3) out of the shelf (2)；
Alternatively, the exit of the transmission unit (12) is provided with mechanical arm, the mechanical arm is for removing the object (3)
It is transported in the shelf (2) and for taking out the object (3) out of the shelf (2).
6. automated guided vehicle according to claim 4, which is characterized in that the transmission unit (12) includes being capable of edge
The stringer of the door frame (11) goes up and down and stops at the crane (121) of different height and positions and is arranged in the crane
(121) the hook drawing mechanism on, the hook drawing mechanism include fixed plate (124), are provided on the fixed plate (124) telescopic
First expansion plate (123) is provided with telescopic second expansion plate (122) on first expansion plate (123), and described second stretches
One end that contracting plate (122) is located in the fixed plate (124) is provided with push plate (125), and the other end, which is provided with, can be rotated to pick and place
The driving lever (120) of the object (3).
7. automated guided vehicle according to claim 6, which is characterized in that be provided with multiple use on the door frame (11)
In the fixed tray (110) for storing the object (3), the transmission unit (12) can be by multiple fixed trays
(110) object (3) on is carried to respectively in the shelf (2), also, the transmission unit (12) can will be described
Multiple objects (3) in shelf (2) are taken out respectively and are individually positioned on the fixed tray (110).
8. automated guided vehicle according to claim 7, which is characterized in that multiple fixed trays (110) are along vertical
To successively with the door frame (11) be connected.
9. a kind of warehousing system, including automated guided vehicle (1) and shelf (2), which is characterized in that the automatic guidance transport
Vehicle (1) is automated guided vehicle as claimed in any one of claims 1 to 8.
10. warehousing system according to claim 9, which is characterized in that the bottom of the shelf (2) is provided with bottom sky
Between, when auxiliary wheel (14) stretching chassis (3) is outer, it can extend into the bottom space of the shelf (2).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910852573X | 2019-09-10 | ||
| CN201910852573 | 2019-09-10 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110422540A true CN110422540A (en) | 2019-11-08 |
| CN110422540B CN110422540B (en) | 2020-11-03 |
Family
ID=68418118
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910863848.XA Active CN110422540B (en) | 2019-09-10 | 2019-09-12 | Automatic guide transport vechicle and storage system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110422540B (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111038902A (en) * | 2020-01-07 | 2020-04-21 | 浙江国自机器人技术有限公司 | Warehousing goods transporting method, ex-warehouse goods transporting method and AGV goods transporting device |
| CN111039060A (en) * | 2019-11-28 | 2020-04-21 | 武汉纺织大学 | Width adjustable cropping robot dolly |
| CN111056206A (en) * | 2020-01-07 | 2020-04-24 | 浙江国自机器人技术有限公司 | AGV with adjustable height |
| CN111169880A (en) * | 2020-01-07 | 2020-05-19 | 浙江国自机器人技术有限公司 | Prevent shaking AGV |
| CN112027643A (en) * | 2020-08-04 | 2020-12-04 | 武汉凌云光电科技有限责任公司 | Unloader and tool automatic production line on tool |
| WO2021092800A1 (en) * | 2019-11-13 | 2021-05-20 | Abb Schweiz Ag | Loading and unloading for automatic guided vehicle |
| WO2021098782A1 (en) * | 2019-11-19 | 2021-05-27 | 深圳市海柔创新科技有限公司 | Carrying device and carrying robot |
| CN113291391A (en) * | 2021-04-06 | 2021-08-24 | 广西邕城云科技有限公司 | Medical transportation system |
| CN113478467A (en) * | 2021-07-27 | 2021-10-08 | 柯慧明 | Mechanical arm |
| CN113493079A (en) * | 2020-03-18 | 2021-10-12 | 苏州格诺诚智能科技有限公司 | Novel intelligent warehousing robot device |
| WO2021249163A1 (en) * | 2020-06-10 | 2021-12-16 | 北京极智嘉科技股份有限公司 | Transfer robot, box retrieval method, cargo box loading method and warehouse logistics system |
| CN114084850A (en) * | 2021-11-24 | 2022-02-25 | 杭州海康机器人技术有限公司 | AGV material handling method, AGV and storage system |
| CN114834808A (en) * | 2022-06-07 | 2022-08-02 | 浙江凯乐士科技集团股份有限公司 | Warehousing system and sorting ex-warehouse control method |
| WO2022166643A1 (en) * | 2021-02-08 | 2022-08-11 | 深圳市普渡科技有限公司 | Automatic freight retrieval method and system for robot, and robot |
| WO2023094671A1 (en) * | 2021-11-29 | 2023-06-01 | E-Cobot | Device for loading at least one dolly onto a mobile robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203739854U (en) * | 2014-03-07 | 2014-07-30 | 云南三星机械设备制造股份有限公司 | Vehicle anti-inclination support device |
| CN205468997U (en) * | 2016-03-08 | 2016-08-17 | 南通美莱电器有限公司 | Prevent rotation type AGV commodity circulation car of empting |
| CN106144377A (en) * | 2016-09-08 | 2016-11-23 | 山东洛杰斯特物流科技有限公司 | A kind of adjustable shock-absorbing shuttle |
| DE202016107020U1 (en) * | 2016-12-15 | 2017-01-15 | Wu Xi Galaxy Technology Company Limited | Self-propelled shuttle |
| CN108685366A (en) * | 2018-07-13 | 2018-10-23 | 阚晓洁 | A kind of anti-down shelf |
| CN208008400U (en) * | 2017-12-22 | 2018-10-26 | 上海顶欣机电设备有限公司 | A kind of goods-shelf type mobile robot based on AGV trolley platforms |
| CN208411905U (en) * | 2018-06-29 | 2019-01-22 | 吉林省君达智能装备有限公司 | A kind of self-service navigation vehicle |
| CN109367652A (en) * | 2018-12-11 | 2019-02-22 | 无锡百禾工业机器人有限公司 | A kind of anti-down trolley of AGV |
| CN109941653A (en) * | 2019-04-19 | 2019-06-28 | 北京极智嘉科技有限公司 | A kind of transfer robot |
-
2019
- 2019-09-12 CN CN201910863848.XA patent/CN110422540B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203739854U (en) * | 2014-03-07 | 2014-07-30 | 云南三星机械设备制造股份有限公司 | Vehicle anti-inclination support device |
| CN205468997U (en) * | 2016-03-08 | 2016-08-17 | 南通美莱电器有限公司 | Prevent rotation type AGV commodity circulation car of empting |
| CN106144377A (en) * | 2016-09-08 | 2016-11-23 | 山东洛杰斯特物流科技有限公司 | A kind of adjustable shock-absorbing shuttle |
| DE202016107020U1 (en) * | 2016-12-15 | 2017-01-15 | Wu Xi Galaxy Technology Company Limited | Self-propelled shuttle |
| CN208008400U (en) * | 2017-12-22 | 2018-10-26 | 上海顶欣机电设备有限公司 | A kind of goods-shelf type mobile robot based on AGV trolley platforms |
| CN208411905U (en) * | 2018-06-29 | 2019-01-22 | 吉林省君达智能装备有限公司 | A kind of self-service navigation vehicle |
| CN108685366A (en) * | 2018-07-13 | 2018-10-23 | 阚晓洁 | A kind of anti-down shelf |
| CN109367652A (en) * | 2018-12-11 | 2019-02-22 | 无锡百禾工业机器人有限公司 | A kind of anti-down trolley of AGV |
| CN109941653A (en) * | 2019-04-19 | 2019-06-28 | 北京极智嘉科技有限公司 | A kind of transfer robot |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021092800A1 (en) * | 2019-11-13 | 2021-05-20 | Abb Schweiz Ag | Loading and unloading for automatic guided vehicle |
| WO2021098782A1 (en) * | 2019-11-19 | 2021-05-27 | 深圳市海柔创新科技有限公司 | Carrying device and carrying robot |
| CN111039060A (en) * | 2019-11-28 | 2020-04-21 | 武汉纺织大学 | Width adjustable cropping robot dolly |
| CN111056206A (en) * | 2020-01-07 | 2020-04-24 | 浙江国自机器人技术有限公司 | AGV with adjustable height |
| CN111169880A (en) * | 2020-01-07 | 2020-05-19 | 浙江国自机器人技术有限公司 | Prevent shaking AGV |
| CN111038902B (en) * | 2020-01-07 | 2021-12-31 | 浙江国自机器人技术股份有限公司 | Warehousing goods transporting method, ex-warehouse goods transporting method and AGV goods transporting device |
| CN111038902A (en) * | 2020-01-07 | 2020-04-21 | 浙江国自机器人技术有限公司 | Warehousing goods transporting method, ex-warehouse goods transporting method and AGV goods transporting device |
| CN113493079A (en) * | 2020-03-18 | 2021-10-12 | 苏州格诺诚智能科技有限公司 | Novel intelligent warehousing robot device |
| WO2021249163A1 (en) * | 2020-06-10 | 2021-12-16 | 北京极智嘉科技股份有限公司 | Transfer robot, box retrieval method, cargo box loading method and warehouse logistics system |
| JP7470208B2 (en) | 2020-06-10 | 2024-04-17 | 北京極智嘉科技股▲ふん▼有限公司 | Transport robot, method for picking up containers, method for loading containers, and warehouse logistics system |
| JP2023521501A (en) * | 2020-06-10 | 2023-05-24 | 北京極智嘉科技股▲ふん▼有限公司 | Transport robot, method of picking up packing boxes, method of loading packing boxes, and warehouse logistics system |
| CN112027643A (en) * | 2020-08-04 | 2020-12-04 | 武汉凌云光电科技有限责任公司 | Unloader and tool automatic production line on tool |
| CN112027643B (en) * | 2020-08-04 | 2022-05-17 | 武汉凌云光电科技有限责任公司 | Unloader and tool automatic production line on tool |
| WO2022166643A1 (en) * | 2021-02-08 | 2022-08-11 | 深圳市普渡科技有限公司 | Automatic freight retrieval method and system for robot, and robot |
| CN113291391A (en) * | 2021-04-06 | 2021-08-24 | 广西邕城云科技有限公司 | Medical transportation system |
| CN113291391B (en) * | 2021-04-06 | 2022-05-31 | 广西邕城云科技有限公司 | Medical transportation system |
| CN113478467B (en) * | 2021-07-27 | 2022-07-22 | 柯慧明 | Mechanical arm |
| CN113478467A (en) * | 2021-07-27 | 2021-10-08 | 柯慧明 | Mechanical arm |
| CN114084850A (en) * | 2021-11-24 | 2022-02-25 | 杭州海康机器人技术有限公司 | AGV material handling method, AGV and storage system |
| WO2023094671A1 (en) * | 2021-11-29 | 2023-06-01 | E-Cobot | Device for loading at least one dolly onto a mobile robot |
| FR3129619A1 (en) * | 2021-11-29 | 2023-06-02 | E-Cobot | Device for loading at least one carriage onto a mobile robot |
| CN114834808A (en) * | 2022-06-07 | 2022-08-02 | 浙江凯乐士科技集团股份有限公司 | Warehousing system and sorting ex-warehouse control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110422540B (en) | 2020-11-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110422540A (en) | A kind of automated guided vehicle and a kind of warehousing system | |
| CN110451153A (en) | A kind of shelf and a kind of warehousing system | |
| US11208264B2 (en) | System for storing and transporting objects stored in racks of a warehouse | |
| JP6965457B2 (en) | Systems and methods for picking items | |
| JP7190518B2 (en) | Robot that transports containers | |
| JP7237138B2 (en) | Transport robot, pick-up method, and intelligent warehouse system | |
| CN112573058B (en) | Goods taking method, transfer robot, processing terminal and intelligent storage system | |
| JP6256702B2 (en) | Container lifting and lowering transport device for article transport | |
| JP2020100507A (en) | Storage and delivery system | |
| CN108792393A (en) | Movable equipment | |
| CN103010648B (en) | Three-dimensional warehousing method for automatic virtual storage bin and warehousing system | |
| CN110294249B (en) | Warehouse logistics system | |
| CN209192822U (en) | Floor truck | |
| CN202743842U (en) | Article identifying and classification storage mechanism | |
| CN210883786U (en) | Transfer robot | |
| CN210762508U (en) | Warehouse logistics system | |
| CN210794517U (en) | Transfer robot | |
| CN107352466B (en) | Stacker and automatic stereoscopic warehouse convenient to deposit and get goods | |
| CN217050074U (en) | Robot, workbin transfer device and workbin transfer system | |
| CN116648414A (en) | Picking system and method | |
| CN112573059B (en) | Goods supplementing or returning method, carrying robot, processing terminal and intelligent storage system | |
| US20170029212A1 (en) | A multi-storey goods storage arrangement | |
| CN209684551U (en) | Movable equipment | |
| CN208577168U (en) | A kind of glass storage device | |
| JP5170552B2 (en) | Goods storage facility |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |