CN111392311A - Clamping type material frame positioning device for AGV logistics storage system - Google Patents

Abstract

The invention discloses a clamping type material frame positioning device for an AGV logistics storage system, which comprises an installation base provided with an AGV trolley stopping station, wherein material frame side part clamping devices are oppositely arranged on the left side and the right side of the AGV trolley stopping station on the installation base, material frame front part clamping devices are oppositely arranged on the left side and the right side of the front part of the AGV trolley stopping station on the installation base, a material frame rear part limiting device is arranged on the rear part of the AGV trolley stopping station on the installation base, and an AGV trolley limiting device for limiting the stopping position of an AGV carrying trolley is also arranged at the rear end of the installation base; the invention has simple structure, reasonable design and convenient operation, can finish clamping and holding type positioning of the loading frame in four directions, namely front, back, left and right directions, ensures the error range and realizes the smooth butt joint of the AGV intelligent logistics system and the gantry type three-dimensional warehouse.

Description

Clamping type material frame positioning device for AGV logistics storage system

Technical Field

The invention discloses a clamping type material frame positioning device, and particularly relates to a material frame positioning device for AGV intelligent logistics transportation and gantry type three-dimensional warehouse grabbing, stacking and warehousing.

Background

Under the development trend of the internet +, the conversion of new and old kinetic energy is implemented deeply, and an intelligent factory becomes a main breakthrough direction of the transformation and upgrading of the traditional manufacturing enterprises. The AGV intelligent logistics system and the gantry type three-dimensional warehouse storage system are more and more widely applied. When the materials are transferred, stored and delivered into and out of the warehouse between the AGV intelligent logistics system and the gantry type three-dimensional warehouse, the material frame, the trolley bracket and other transfer equipment need to be positioned, so that the accumulation of errors such as relative position errors between the material frame and the trolley bracket, between the trolley bracket and the AGV body, and relative sliding caused by inevitable bumping in the transportation process is eliminated, the positioning errors are guaranteed to be within the allowable error range of the gantry type three-dimensional warehouse grabbing, and the gantry type three-dimensional warehouse manipulator is convenient to grab.

Disclosure of Invention

The clamping type material frame positioning device for the AGV logistics storage system can effectively position the material frame, ensure the error range and realize smooth butt joint of the AGV intelligent logistics system and the gantry type three-dimensional warehouse.

In order to solve the technical problems, the technical scheme of the invention is as follows: a press from both sides and embrace formula material frame positioner for AGV logistics storage system for moving the thing material frame of carrying of placing on the dolly to AGV and fix a position, stop the installation base of station including being equipped with the AGV dolly, lie in on the installation base AGV dolly stops the station about both sides install material frame lateral part clamping device relatively, lie in on the installation base AGV dolly stops the anterior left and right sides of station and installs the anterior clamping device of material frame relatively, lie in on the installation base AGV dolly stops the rear portion of station and installs material frame rear portion stop device, the rear end of installation base still installs the AGV dolly stop device that restriction AGV carried the dolly and stops the position.

As the preferred technical scheme, the mounting base comprises two mounting supports which are arranged oppositely, two AGV trolley stopping stations which are used for stopping the AGV carrying trolley are arranged between the mounting supports, two material frame side clamping devices are arranged oppositely on two tops of the mounting supports, two material frame front clamping devices are arranged oppositely on two front tops of the mounting supports.

According to the preferable technical scheme, the material frame side clamping device comprises a side clamping seat fixedly mounted at the top end of the mounting base, a side clamping cylinder is mounted on the side clamping seat, a side clamping push plate used for being matched with the side of the loading material frame to realize positioning is mounted at the telescopic end of the side clamping cylinder, and a push plate guide shaft sliding along the side clamping seat is further mounted on the side clamping push plate.

As preferred technical scheme, the anterior clamping device of material frame includes fixed mounting and is in the anterior tight seat of clamp on the anterior top of installation base, install arm-type powerful die clamping cylinder on the tight seat of anterior clamp, be provided with on the arm-type powerful die clamping cylinder and dodge the AGV dolly station and expect that frame location station between the reciprocal wobbling centre gripping swing arm, the centre gripping swing arm is in when dodging AGV dolly station, the centre gripping swing arm is relative arm-type powerful die clamping cylinder level, when the centre gripping swing arm is swung to material frame location station by dodging AGV dolly station, the centre gripping swing arm is by the level towards perpendicular swing after promoting to carry the material frame realization location, the outer end of centre gripping swing arm still install with carry the anterior push pedal of thing material frame complex.

As the preferred technical scheme, the front push plate is a front right-angle push plate which is correspondingly matched with the right angle of the loading material frame.

As the preferred technical scheme, the material frame rear limiting device comprises a rear fixing seat which is fixedly installed at the rear part of the top end of the installation base and used for limiting the rear end of the material frame for carrying the object.

As an optimized technical scheme, two rear right-angle push plates are oppositely arranged on the rear fixing seat, and the two rear right-angle push plates are correspondingly matched with two right angles at the rear end of the object carrying frame.

As the preferred technical scheme, AGV dolly stop device is including the interception AGV transports the only gag lever post of dolly rear end, only stop the both ends of gag lever post respectively fixed mounting in the rear end middle part of installation base.

According to the preferable technical scheme, an automatic control system is further installed on the installation base, and the material frame side portion clamping device, the material frame front portion clamping device and the material frame rear portion limiting device are all connected to the automatic control system.

As an optimal technical scheme, still install material frame detection device on the installation base, material frame detection device is for being used for detecting that the AGV that places the year material frame shiies the dolly and whether arrives AGV dolly stops the photoelectric detection switch of station, photoelectric detection switch with automatic control system connects.

Due to the adoption of the technical scheme, the clamping type material frame positioning device for the AGV logistics storage system is used for positioning a material carrying frame placed on an AGV carrying trolley, comprises an installation base provided with an AGV trolley stopping station, wherein material frame side part clamping devices are oppositely arranged on the left side and the right side of the AGV trolley stopping station on the installation base, material frame front part clamping devices are oppositely arranged on the left side and the right side of the front part of the AGV trolley stopping station on the installation base, a material frame rear part limiting device is arranged on the installation base at the rear part of the AGV trolley stopping station, and an AGV trolley limiting device for limiting the stopping position of the AGV carrying trolley is further arranged at the rear end of the installation base; the invention has the beneficial effects that: the material frame side part clamping device is used for carrying out centering clamping on two sides of the material carrying frame, so that the centering positioning of the left side part and the right side part of the material carrying frame is realized; the clamping device at the front part of the material frame is pushed backwards from the front side of the material carrying frame until the rear end of the material carrying frame contacts the limiting device at the rear part of the material frame, and the positioning of the front end and the rear end of the material carrying frame is realized at the moment; when the automatic guided vehicle works, when a material carrying frame filled with goods is driven by an AGV carrying trolley to move into the AGV trolley stopping station, the AGV carrying trolley stops moving after a vehicle body of the AGV carrying trolley contacts the AGV trolley limiting device, namely the AGV carrying trolley reaches the AGV trolley stopping station; then at first material frame lateral part clamping device carries out left and right sides to carrying the thing material frame and corresponds the location, then the rethread material frame anterior clamping device with material frame rear portion stop device cooperation carries out the location at front and back both ends to carrying the thing material frame, has accomplished the clamp formula location of four directions all around to carrying the thing material frame this moment, has guaranteed error range, can realize the smooth butt joint of AGV intelligence logistics system and planer-type three-dimensional storehouse. The invention also has the advantages of simple structure, reasonable design, convenient operation and the like.

Drawings

The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention.

Wherein:

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is an enlarged schematic view at A in FIG. 1;

FIG. 3 is a schematic structural view of another embodiment of the present invention;

fig. 4 is a top view of an embodiment of the present invention.

In the figure: 1-installing a base; 2-a material frame side clamping device; 21-side clamping seats; 22-side clamping cylinder; 23-side clamping push plate; 24-a pusher guide shaft; 3-clamping device at the front part of the material frame; 31-front clamping seat; a 32-arm strong clamping cylinder; 33-clamping the swing arm; 34-a front pusher plate; 4-a material frame rear limiting device; 41-rear fixed seat; 42-rear right angle push plate; 5-AGV dolly stop device; 51-stop limit rod; 52-a limiting rod mounting seat; 6-AGV carrying trolley; 7-carrying material frame.

Detailed Description

The invention is further illustrated below with reference to the figures and examples. In the following detailed description, certain exemplary embodiments of the present invention are described by way of illustration only. Needless to say, a person skilled in the art realizes that the described embodiments can be modified in various different ways without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are illustrative in nature and not intended to limit the scope of the claims.

As shown in fig. 1 to 4, the clamping type material frame positioning device for an AGV logistics storage system is used for positioning a material carrying frame 7 placed on an AGV carrying trolley 6, the AGV carrying trolley 6 is the prior art, the specific structure of the AGV carrying trolley 6 is a known technology, only parts related to the present embodiment are described herein, a trolley bracket is arranged at the top of the AGV carrying trolley 6, the material carrying frame 7 is placed on the trolley bracket, and the AGV carrying trolley 6 is transported in a field. In the present embodiment, the carrier frame 7 is a rectangular frame having four right angles. For the sake of more clear description of the orientation, the two long sides of the carrier frame 7 are defined as the left and right sides, and the two short sides are positioned as the front and rear ends.

Clamping type material frame positioning device comprises an installation base 1 provided with an AGV trolley stopping station, wherein the installation base 1 is provided with an installation base 2 for relatively installing the left side and the right side of the AGV trolley stopping station, the installation base 1 is provided with an installation base 3 for relatively installing the front left side and the right side of the AGV trolley stopping station, the installation base 1 is provided with an installation base 4 for limiting the rear part of the AGV trolley stopping station and a material frame rear part limiting device 5 for limiting the AGV trolley 6 stopping position. The material frame side part clamping device 2 is used for carrying out centering clamping on two sides of the material carrying frame 7, so that the centering positioning of the left side part and the right side part of the material carrying frame 7 is realized; the clamping device 3 at the front part of the material frame is pushed backwards from the front side of the material carrying frame 7 until the rear end of the material carrying frame 7 contacts the limiting device 4 at the rear part of the material frame, and the positioning of the front end and the rear end of the material carrying frame 7 is realized at the moment; when the automatic guided vehicle works, when the loading frame 7 filled with goods is driven by the AGV carrying trolley 6 to move into the AGV trolley stopping station, after the body of the AGV carrying trolley 6 contacts the AGV trolley limiting device 5, the AGV carrying trolley 6 stops moving, namely the AGV carrying trolley 6 reaches the AGV trolley stopping station; then at first control material frame lateral part clamping device 2 carries out left and right sides centering location to carrying material frame 7, then the rethread material frame anterior clamping device 3 with material frame rear portion stop device 4 cooperates and carries out the location at front and back both ends to carrying material frame 7, has accomplished the clamp formula location of embracing four directions around carrying material frame 7 this moment, has guaranteed error range, can realize the smooth butt joint of AGV intelligence logistics system and planer-type three-dimensional storehouse. The invention also has the advantages of simple structure, reasonable design, convenient operation and the like.

Material frame lateral part clamping device 2, the anterior clamping device 3 of material frame, material frame rear portion stop device 4 highly all with carry the high adaptation of thing material frame 7, carry the thing material frame 7 and place the top that the dolly 6 was carried at AGV, so material frame lateral part clamping device 2, the anterior clamping device 3 of material frame, material frame rear portion stop device 4 highly be higher than AGV height of carrying dolly 6, and just in time with carry the high adaptation of thing material frame 7, when pressing from both sides tight location, can not use AGV to carry dolly 6 on, but uses the four week sides that lie in the AGV and carry thing material frame 7 above the dolly 6.

The mounting base 1 comprises two oppositely arranged mounting supports, an AGV trolley stopping station for stopping an AGV carrying trolley 6 is arranged between the two mounting supports, the two material frame side part clamping devices 2 are oppositely arranged at the top ends of the two mounting supports, the two material frame side part clamping devices 2 are respectively positioned at the left side and the right side of the material carrying frame 7, and the material carrying frame 7 is clamped at the middle position through synchronous action; the two material frame front clamping devices 3 are oppositely arranged at the top ends of the front parts of the two mounting brackets.

Referring to fig. 2, the material frame side clamping device 2 includes a side clamping seat 21 fixedly installed at the top end of the installation base 1, a side clamping cylinder 22 is installed on the side clamping seat 21, a side clamping push plate 23 used for being matched with the side of the material carrying frame 7 to realize positioning is installed at the telescopic end of the side clamping cylinder 22, and a push plate guide shaft 24 sliding along the side clamping seat 21 is further installed on the side clamping push plate 23. When the telescopic end of the side clamping cylinder 22 extends, the side clamping push plate 23 is driven to move towards the carrying material frame 7, the side clamping push plate 23 is in contact with the surface of the carrying material frame 7, and the carrying material frame 7 is pushed to move forwards along with the gradual extension of the telescopic end; when the device works, the lateral clamping cylinders 22 positioned at the left side and the right side of the carrying material frame 7 act simultaneously, namely the extension lengths of the telescopic ends are the same, so that the two lateral clamping push plates 23 are matched to push the carrying material frame 7, the centering and the positioning of the carrying material frame 7 can be realized, and the positioning accuracy of the left side and the right side of the carrying material frame 7 is ensured; after centering and positioning are completed, the telescopic ends of the side clamping cylinders 22 are controlled to retract simultaneously for resetting. In the extension process of the telescopic end of the lateral clamping cylinder 22, the push plate guide shaft 24 moves horizontally along the lateral clamping seat 21 to ensure the stable operation of the lateral clamping cylinder 22 and prevent damage to the lateral clamping cylinder 22, in this embodiment, two push plate guide shafts are respectively arranged on two sides of the telescopic end of the lateral clamping cylinder 22, and the lateral clamping seat 21 is provided with a guide hole for the push plate guide shaft to slide. The side clamping cylinder 22 is conventional and its specific structure will not be described herein. In this embodiment, the tight push pedal 23 of lateral part clamp sets up to long slab structure, is surface contact when contacting with year thing material frame 7 like this, and area of contact is great, changes the promotion, and when the long slab that both sides correspond promoted each other, carries thing material frame 7 and can not take place to twist reverse, and the positioning effect is better. The side clamping cylinder 23 can be replaced by a hydraulic cylinder and an electric cylinder, and the extension effect is the same.

The front clamping device 3 of the material frame is arranged in the front of a station where the AGV trolley stops, the rear limiting device 4 of the material frame is arranged at the rear of the station where the AGV trolley stops, the AGV transports the front end of the AGV trolley 6 to enter the station, and when the AGV trolley enters the station, the front clamping device 3 of the material frame enables the entrance of the station where the AGV trolley stops to be opened, the AGV transports the AGV trolley 6 to smoothly enter the station where the AGV trolley stops, when the AGV trolley is positioned, the front clamping device 3 of the material frame closes the entrance of the station where the AGV trolley stops from the outside, and then the material frame 7 of the material frame is clamped and positioned.

Referring to fig. 2, the material frame front clamping device 3 comprises a front clamping seat 31 fixedly mounted at the top end of the front portion of the mounting base 1, an arm type strong clamping cylinder 32 is mounted on the front clamping seat 31, a clamping swing arm 33 which swings to and fro between an AGV trolley avoiding station and a material frame positioning station is arranged on the arm type strong clamping cylinder 32, when the clamping swing arm 33 is in the AGV trolley avoiding station, the clamping swing arm 33 is horizontal relative to the arm type strong clamping cylinder 32, an entrance of the AGV trolley stopping station is in an open state, an AGV carrying trolley 6 provided with a material carrying frame 7 can smoothly enter the AGV trolley stopping station, interference cannot occur in the process of entering, and the clamping swing arm 33 is in the state under a non-clamping state; during clamping and positioning, the arm type powerful clamping cylinder 32 drives the clamping swing arm 33 to swing from an AGV trolley avoiding station to a material frame positioning station, the clamping swing arm 33 swings vertically from the horizontal direction, an entrance of the AGV trolley stopping station is gradually closed, the clamping swing arm 33 can be contacted with the material carrying frame 7 in the swinging process, then the material carrying frame 7 is pushed backwards to realize positioning until the rear end of the material carrying frame 7 is contacted with the position of the material frame rear limiting device 4, and the clamping swing arm 33 is in a clamping and positioning state at this time in reference to the position states of the clamping swing arm 33 in the figures 1 to 4; the outer end of the clamping swing arm 33 is further provided with a front push plate 34 matched with the object carrying frame 7, and the front push plate 34 is in contact with the object carrying frame 7 and used for pushing the object carrying frame 7 to move. The arm-type strong clamping cylinder 32 is a JCK strong welding clamping cylinder, and belongs to the prior art, and the specific structure and the principle of driving the clamping swing arm 33 to swing are not described herein again. In the embodiment, the arm type strong clamping cylinder 32 structure is adopted, the clamping swing arm 33 is driven to swing, so that the loading frame 7 can smoothly enter, and meanwhile, the positioning can be realized, the interference phenomenon is avoided, and the structure is a unique structure of the invention. After the location is accomplished simultaneously, centre gripping swing arm 33 resets, and the thing material frame that carries can be snatched smoothly, can not influence going on of next process yet.

The front push plate 34 is a front right-angle push plate correspondingly matched with the right angle of the material carrying frame 7; work as after material frame lateral part clamping device 2 carries out the centering location, the position of the left and right sides of carrying thing material frame 7 has been confirmed, work as centre gripping swing arm 33 rotates the in-process to material frame location station, anterior right angle push pedal just in time can block on two right angles in the front portion of carrying thing material frame 7, and two right angles of carrying thing material frame this moment are by the centre gripping, and the cooperation of the anterior right angle push pedal of both sides is guaranteed when promoting backward and carry thing material frame 7, carries thing material frame 7 and keeps lateral motion as far as possible all the time, does not take place to deflect.

Referring to fig. 3, the frame rear limiting device 4 includes a rear fixing seat 41 fixedly installed at the rear portion of the top end of the mounting base 1 for limiting the rear end of the object carrying frame 7, and when the rear end of the object carrying frame 7 contacts the rear fixing seat 41, the movement cannot be continued. Two rear right-angle push plates 42 are oppositely arranged on the rear fixing seat 41, and the two rear right-angle push plates 42 are correspondingly matched with the two right angles at the rear end of the object carrying frame 7. The width between two rear portion right angle push pedal 42 just in time is the same with carrying the width of thing material frame 7 rear portion both sides, and the width between two anterior right angle push pedal just in time is the same with carrying the anterior both sides width of thing material frame 7, and two rear portion right angle push pedal 42 set up relatively, and two anterior right angle push pedal set up relatively, and two rear portion right angle push pedal 42 and two anterior right angle push pedal cooperations just in time will carry the four corners of thing material frame 7 to block, have formed to press from both sides and have embraced the formula location, carry the location effect of thing material frame 7 the.

Referring to fig. 3, the AGV cart limiting device 5 includes a stop limiting rod 51 for intercepting the rear end of the AGV transport cart 6, and two ends of the stop limiting rod 51 are respectively and fixedly mounted in the middle of the rear end of the mounting base 1 through limiting rod mounting seats 52. When the body of the AGV carrying trolley 6 contacts the stop limiting rod 51, the AGV carrying trolley 6 can not move any more, and the AGV carrying trolley 6 is just in time at the station where the AGV trolley stops.

The automatic positioning device is characterized in that the mounting base 1 is further provided with an automatic control system, the material frame side part clamping device 2, the material frame front part clamping device 3 and the material frame rear part limiting device 4 are all connected to the automatic control system, the automatic control system is a P L C controller, and the P L C controller is used for controlling the sequence of the first action of the material frame side part clamping device 2, the material frame front part clamping device 3 and the material frame rear part limiting device 4, so that orderly positioning is guaranteed.

Still install material frame detection device on the installation base 1, material frame detection device transports dolly 6 for being used for detecting the AGV that places and carry material frame 7 and whether arrives the photoelectric detection switch that the station was berthhed to the AGV dolly, the photoelectric detection switch is installed the AGV dolly of installation base 1 berths the station entrance, the photoelectric detection switch with automatic control system connects. When the photoelectric detection switch detects that the AGV carrying trolley 6 provided with the loading frame 7 arrives at the stopping station of the AGV trolley, the signal is transmitted to the automatic control system to start automatic positioning. The photoelectric detection switch is the prior art and is not described in detail herein.

The working principle of the embodiment is as follows:

when finished workpieces are stored in a warehouse, when the material frames of the processing stations are full of materials, the AGV carrying trolley 6 is called, the AGV carrying trolley 6 takes materials according to a specified route, and the material frames 7 placed on the trolley bracket are carried together to be stored in the warehouse and reach the clamping type material frame positioning device;

detecting by a photoelectric detection switch, interacting with signals of an automatic control system when the photoelectric detection switch detects that the AGV carries the trolley 6 and the carrying material frame 7 in place, sending an action instruction by a feeding frame side clamping device 2 of the automatic control system, simultaneously acting by side clamping cylinders 22 positioned at the left side and the right side of the carrying material frame 7, resetting after clamping in place, sending a completion signal to the automatic control system after resetting is completed, completing the first clamping of the side, and centering the two sides of the carrying material frame 7 through the step;

the automatic control system receives a first clamping completion signal of the side part and then controls the front clamping device 3 of the material frame to act, arm type powerful clamping cylinders 32 located on the left side and the right side of the front of the material carrying frame 7 act simultaneously, the material carrying frame 7 is pushed to move towards the rear side in the action process until the rear end of the material carrying frame 7 contacts with the rear limiting device 4 of the material frame to stop acting, a signal is sent to the automatic control system after the action is stopped, the automatic control system receives the signal and then controls the side clamping device 2 of the material frame to clamp for the second time, and a signal is sent to the automatic control system after the clamping. After receiving the signal, the automatic control system firstly controls the 3 cylinders of the clamping devices at the front part of the material frame to loosen and reset, then controls the 2 cylinders of the clamping devices at the side part of the material frame to loosen and reset, and finishes clamping and holding type positioning of the material frame in four directions, namely front, back, left and right, after the cylinders finish resetting, the automatic control system sends an instruction signal to the gantry type three-dimensional garage control system, and the gantry manipulator grabs the material frame to enter the garage.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. A press from both sides and embrace formula material frame positioner for AGV logistics storage system for the year thing material frame of placing on transporting the dolly to AGV fixes a position its characterized in that: including being equipped with the installation base that the station was berthhed to the AGV dolly, lie in on the installation base the AGV dolly is berthhed the station and is installed material frame lateral part clamping device relatively in the left and right sides, lie in on the installation base the anterior left and right sides that the station was berthhed to the AGV dolly installs the anterior clamping device of material frame relatively, lie in on the installation base material frame rear portion stop device is installed at the rear portion that the station was berthhed to the AGV dolly, the AGV dolly stop device that the position was berthhed to restriction AGV transport dolly is still installed to the rear end of installation base.

2. The clamping frame positioning device for AGV logistics storage system of claim 1, wherein: the mounting base includes the relative installing support that sets up of two the station is berthhed to the AGV dolly that is provided with between the installing support and is used for berthhing AGV transporting dolly, two material frame lateral part clamping device installs two relatively the top of installing support, two material frame anterior clamping device installs two relatively the anterior top of installing support.

3. The clamping frame positioning device for AGV logistics storage system of claim 1, wherein: the material frame lateral part clamping device comprises a lateral part clamping seat fixedly installed at the top end of the installation base, a lateral part clamping cylinder is installed on the lateral part clamping seat, a lateral part clamping push plate used for realizing positioning in cooperation with the lateral part of the loading material frame is installed at the telescopic end of the lateral part clamping cylinder, and an edge is further installed on the lateral part clamping push plate to form a sliding push plate guide shaft of the lateral part clamping seat.

4. The clamping frame positioning device for AGV logistics storage system of claim 1, wherein: the front clamping device of the material frame comprises a fixed mounting part and is characterized in that an front clamping seat at the top end of the front part of the mounting base is provided with an arm type strong clamping cylinder, the arm type strong clamping cylinder is provided with a clamping swing arm which swings to and fro between an AGV trolley station and a material frame positioning station, the clamping swing arm is positioned when the AGV trolley station is avoided, the clamping swing arm is relative to the arm type strong clamping cylinder, the clamping swing arm is used for realizing positioning by pushing a material carrying frame backwards from the horizontal direction towards the vertical swinging when the AGV trolley station swings to the material frame positioning station, and the outer end of the clamping swing arm is further provided with an anterior push pedal matched with the material carrying frame.

5. The clamping frame positioning device for AGV logistics storage system of claim 4, wherein: the front push plate is a front right-angle push plate which is correspondingly matched with the right angle of the loading material frame.

6. The clamping frame positioning device for AGV logistics storage system of claim 1, wherein: the material frame rear limiting device comprises a rear fixing seat fixedly mounted at the rear part of the top end of the mounting base and used for limiting the rear end of the material carrying frame.

7. The clamping frame positioning device for AGV logistics storage system of claim 6, wherein: two rear right-angle push plates are oppositely arranged on the rear fixing seat and correspondingly matched with two right angles at the rear end of the object carrying frame.

8. The clamping frame positioning device for AGV logistics storage system of claim 1, wherein: AGV dolly stop device is including the interception AGV transports the only gag lever post that stops of dolly rear end, the both ends that stop the gag lever post are fixed mounting respectively in the rear end middle part of installation base.

9. The clamping frame positioning device for AGV logistics storage system of claim 1, wherein: the mounting base is further provided with an automatic control system, and the material frame side clamping device, the material frame front clamping device and the material frame rear limiting device are all connected to the automatic control system.

10. The bracketing frame locating device for an AGV logistics storage system of claim 9, further comprising: still install material frame detection device on the installation base, material frame detection device transports the dolly for being used for detecting the AGV that places and carry the material frame and whether arrives the photoelectric detection switch that the station was berthhed to the AGV dolly, photoelectric detection switch with automatic control system connects.

Images