CN111874511A - AGV (automatic guided vehicle) with buffer position for storing and taking goods, goods shelf assembly and control method - Google Patents
AGV (automatic guided vehicle) with buffer position for storing and taking goods, goods shelf assembly and control method Download PDFInfo
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- CN111874511A CN111874511A CN202010697028.0A CN202010697028A CN111874511A CN 111874511 A CN111874511 A CN 111874511A CN 202010697028 A CN202010697028 A CN 202010697028A CN 111874511 A CN111874511 A CN 111874511A
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- goods
- fork device
- agv
- platform
- lifting
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- 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
- B65G1/12—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like
- B65G1/127—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like the circuit being confined in a vertical plane
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- 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
- B65G25/00—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement
- B65G25/04—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
- B65G25/06—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors having carriers, e.g. belts
Abstract
The invention discloses an AGV (automatic guided vehicle) with a buffer position, which is provided with the buffer position, namely a goods position platform is arranged on a goods shelf mechanism. According to the technical scheme, a plurality of goods can be stored or taken by one stroke of the AGV, the working efficiency is improved, and the running cost of the AGV is reduced. The invention also discloses a goods shelf component comprising the AGV for storing and taking goods and a control method of the AGV for storing and taking goods.
Description
Technical Field
The invention relates to the field of storage racks, in particular to an AGV (automatic guided vehicle) for taking goods, which is applied to a storage rack.
Background
In the field of shelves, AGV carts are often used in different track levels of a shelf for access of goods. However, in the AGV cart in the prior art, a walking cart is disclosed as in the chinese utility model with application number 201620209017.2, which can walk on a shelf and move to a corresponding cargo space, and a telescopic cargo taking mechanism (a fork device) is used to take and place the cargo. However, as shown in the prior art, the AGV cart can only pick and place a single piece of goods each time, and if a plurality of goods need to be picked at one time in the rack, the AGV cart can only return to the starting point to pick up the goods after reaching the destination from the starting point, and then unload the goods and travel to the destination again to pick up the goods, so that time is wasted in traveling on the course, the efficiency of picking up the goods is low, and the travel is long, which results in high operation cost.
Therefore, a new technical solution is needed to solve the above technical problems.
Disclosure of Invention
The invention provides an AGV (automatic guided vehicle) with a buffer position for storing and taking goods, which solves the technical problem of how to enable the AGV to store and take a plurality of goods in one stroke.
In order to achieve the purpose, the invention can adopt the following technical scheme:
an AGV trolley with a buffer position for storing and taking goods comprises a walking vehicle body, a fork device, a goods lifting position device and a rotating platform, wherein the goods lifting position device is arranged on the walking vehicle body; the fork device is provided with a telescopic fork; the goods position lifting device comprises a goods shelf mechanism and a lifting mechanism which extend from bottom to top; the goods shelf mechanism comprises a plurality of upright posts and goods space platforms which are arranged on the upright posts in a layered mode from bottom to top; the lifting mechanism is installed on the stand column, one side of the rotating platform is installed on the lifting mechanism, and the lifting mechanism drives the rotating platform and the fork device to ascend or descend along the stand column.
Has the advantages that: the AGV provided by the invention is provided with the cache position, namely the goods position platform is arranged on the goods shelf mechanism, and the AGV not only can access a single goods at each time, but also can temporarily store a plurality of goods on the goods position platform and then uniformly convey the goods to the next place. According to the technical scheme, a plurality of goods can be stored or taken by one stroke of the AGV, the working efficiency is improved, and the running cost of the AGV is reduced.
Further, the revolving stage includes the platform main part, installs slewing ring bearing, motor in platform main part top, installs the driving gear at the motor output shaft, slewing ring bearing's the outside is the external gear, and this external gear and driving gear meshing and rotate under the rotation of driving gear, the platform main part rotates along with slewing ring bearing's rotation. The rotation that the platform main part drove the fork device can be realized through simple setting to this revolving stage.
Furthermore, the lifting mechanism comprises two synchronous belt mechanisms arranged side by side, each synchronous belt mechanism comprises a synchronous belt, a lifting synchronous belt idler wheel positioned at the top of the upright post, a driving belt wheel, a lifting motor positioned at the bottom of the lifting cargo space and a speed reducer, and the driving belt wheel is arranged on an output shaft of the speed reducer; the hold-in range is around driving pulley and hold-in range idler, the hold-in range is equipped with the fixed block on the one side of revolving stage face, and the platform main part of revolving stage is fixed on the fixed block and is reciprocated along with the fixed block. The lift operation in this scheme is provided through the hold-in range, and the hold-in range has weight lighter, and the noise is littleer advantage, is applicable to on needs walking, the limited AGV dolly of load capacity.
Furthermore, a balancing weight is installed on one side of the synchronous belt back to the rotating table, a guide post extending from bottom to top is arranged in the goods shelf, a front guide wheel and a rear guide wheel are arranged on the outer side surface of the balancing weight, and the guide post is clamped between the front guide wheel and the rear guide wheel; the front guide wheel is abutted against the front surface of the guide post, and the rear guide wheel is abutted against the rear surface of the guide post. The setting of this balancing weight can reduce the power requirement of lifting motor to select small, the weaker lifting motor of power, with space and reduction load on practicing thrift the AGV dolly. And the balancing weight is positioned by the guide post and cannot shake when moving up and down.
The invention also provides a technical scheme of the goods shelf component comprising the AGV trolley for accessing the goods, which comprises the following steps:
the storage shelf comprises a plurality of storage layers, and the highest storage layer is as high as the maximum height of the fork device.
Has the advantages that: further set up storage rack and access goods AGV dolly cooperation in this goods shelves subassembly and used, and the one deck that just is the highest stores up the layer and is high with the maximum height that fork device rises, makes AGV dolly can access the goods on this storage rack arbitrary one deck storage layer.
The invention also provides a technical scheme of the control method for the AGV comprising the steps of:
when goods are taken, after the walking vehicle body is controlled to move to a specified place, the fork device is moved to the height of the goods through the lifting mechanism, the goods taking position of the fork device is rotated to the position of the goods through the rotating platform, and the goods are taken onto the fork device; rotating the goods outlet position of the fork device to face the goods position platform through the rotating platform, and pushing the goods from the fork device to the goods position platform;
when the goods are stored, the goods are pre-stored on the goods position platform, the fork device is moved to the height of the goods through the lifting mechanism, the goods taking position of the fork device is rotated to the position of the goods through the rotating platform, and the goods are taken onto the fork device; and then the goods delivery position of the fork device is rotated to the goods storage position through the rotating platform, and the goods are pushed to the storage position from the fork device.
Furthermore, after the goods are taken to the fork device by the rotating platform, the rotating platform rotates by 90 degrees to enable the goods outlet position to face the goods position platform. When goods are taken, after the goods are placed on all the goods space platforms, one-time goods taking operation is completed.
Has the advantages that: the control scheme respectively considers the control of the rotary table, the fork device and the lifting mechanism on the AGV trolley during storage and taking of goods, and the operation of storing goods or taking goods is finished.
Drawings
Fig. 1 is a perspective view of the shelving assembly of the invention.
FIG. 2 is a side view of an AGV with buffer storage according to the present invention.
FIG. 3 is a front view of an AGV with buffer storage according to the present invention.
FIG. 4 is a schematic view showing the internal structure of the turntable part of the present invention.
Detailed Description
Referring to fig. 1, the present invention discloses an AGV trolley with a buffer position for storing and taking goods, which includes a walking vehicle body 1, a fork device 2, a goods lifting position device 3 installed on the walking vehicle body 1, and a rotating platform 4 for carrying the fork device 2. The fork arrangement 2 has telescopic forks 21. Wheels 11 are arranged below the walking vehicle body 1, and the wheels 11 are driven by a main motor in the walking vehicle body 1, which is not described in detail herein. The goods lifting position device 3 comprises a goods shelf mechanism and a lifting mechanism which extend from bottom to top. The shelf mechanism comprises a plurality of upright posts 31 and a goods space platform 311 which is arranged on the upright posts 31 and is layered from bottom to top. The crossbeam of connecting between this goods shelves mechanism's stand 31 and the stand adopts the frame construction that square pipe or channel-section steel were built, and frame construction is aluminium alloy construction, and what adopt is the square frame construction of four feet, compare in traditional steel door frame construction, weight is lighter, the structure is more stable, the assembly precision is compared higher in welding frame construction, it is littleer to make this goods shelves mechanism rock when removing, fine solution this AGV dolly set up behind the goods shelves mechanism focus high, rock serious hidden danger. The goods space platform 311 is used as a buffer position, the goods can be temporarily stored on the goods space platform 311 when the buffer position is used, and the goods are stored on the goods space platform 311 and then are transported to the next place through the trolley. The traveling vehicle body 1 is also provided with a radar sensor 12 for detecting whether there is an obstacle in front of the traveling vehicle body 1.
As shown in fig. 4, the turntable 4 includes a table body 41, a rotating ring bearing 42 mounted above the table body 41, a motor (not shown), and a drive gear 43 mounted on an output shaft of the motor. The outer side of the slewing ring bearing 42 is an external gear, which is engaged with the drive gear 43 and rotates by the rotation of the drive gear 43. The fork arrangement 2 rotates with the rotation of the slewing ring bearing 42.
As shown in fig. 2 to 4, the lifting mechanism is mounted on the column 31 and one side of the rotating platform 4 is mounted on the lifting mechanism. The lifting mechanism drives the rotary table 4 and the fork device 3 to ascend or descend along the column 31. In this embodiment, the lifting mechanism includes two timing belt mechanisms disposed side by side. The synchronous belt mechanism comprises a synchronous belt 32, a lifting synchronous belt idler pulley 33 positioned at the top of the upright column 31, a driving belt pulley 34, a lifting motor 35 positioned at the bottom of the lifting cargo space, a speed reducer and a drag chain 39. The drive pulley 34 is mounted on the reducer output shaft. The timing belt 32 is wound around a driving pulley 34 and a timing belt idler 33. The synchronous belt 32 is provided with a fixed block 35 on one side facing the rotary table 4, and the platform body 41 of the rotary table 4 is respectively fixed on the fixed blocks 35 of the two synchronous belt structures through two connecting rods 45 and moves up and down along with the fixed blocks 35. A counterweight 36 is arranged on one side of the synchronous belt 32 back to the rotating platform 4. And a guide post 33 extending from bottom to top is provided in the shelf. The outer side surface of the counterweight block 36 is provided with a front guide wheel 37 and a rear guide wheel 38. The guide post 33 is sandwiched between a front guide wheel 37 and a rear guide wheel 38 to keep the weight 36 stable when moving up and down. The front guide wheel 37 abuts against the front surface of the guide post 33 and the rear guide wheel 38 abuts against the rear surface of the guide post 33.
As shown in fig. 1, when this access goods AGV dolly is in the goods shelves subassembly, set up in a plurality of storage goods shelves 5 of the supporting use of this AGV dolly in the goods shelves subassembly, storage goods shelves 5 include a plurality of layers of storage goods layer, and the one deck of the highest storage goods layer is high with the maximum height that the fork device rises.
When the AGV trolley for storing and taking goods is used for storing and taking goods, the adopted control method comprises the following steps: when goods are taken, the walking vehicle body 1 is controlled to move to a specified place, then the fork device 2 is moved to the height of the goods through the lifting mechanism, the goods taking position of the fork device 2 is rotated to the position of the goods through the rotating platform 4, and the goods are taken to the fork device 2. The fork device 2 is rotated to the position facing the cargo space platform 311 by the rotary table 4, and the cargo is pushed from the fork device to the cargo space platform 311. In the present embodiment, as shown in fig. 1, the storage racks 5 are located on the lateral side of the AGV, so that the turn table 4 rotates 90 ° after taking the load onto the fork 2 so that the delivery position faces the loading platform. If the maximum utilization rate of the cache position is required to be reached, when goods are taken, after the goods are placed on all the goods position platforms, one-time goods taking operation is completed.
When the goods are stored, the goods are pre-stored on the goods position platform 311, the fork device 2 is moved to the height of the goods through the lifting mechanism, the goods taking position of the fork device 2 is rotated to the position of the goods through the rotating platform 3, and the goods are taken onto the fork device 2. The delivery position of the fork device 2 is then rotated to a cargo storage position by the rotary table 4, and the cargo is pushed from the fork device 2 to the storage position.
The invention embodies a number of methods and approaches to this solution and the foregoing is only a preferred embodiment of the invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be construed as the protection scope of the present invention. All the components not specified in the present embodiment can be realized by the prior art.
Claims (9)
1. The utility model provides a take access goods AGV dolly of buffer position, includes walking automobile body, fork device, its characterized in that: the lifting pallet position device is arranged on the walking vehicle body, and the rotating platform is used for bearing the pallet fork device; the fork device is provided with a telescopic fork; the goods position lifting device comprises a goods shelf mechanism and a lifting mechanism which extend from bottom to top; the goods shelf mechanism comprises a plurality of upright posts and goods space platforms which are arranged on the upright posts in a layered mode from bottom to top; the lifting mechanism is installed on the stand column, one side of the rotating platform is installed on the lifting mechanism, and the lifting mechanism drives the rotating platform and the fork device to ascend or descend along the stand column.
2. The AGV for storing and taking goods of claim 1, wherein: the revolving stage includes the platform main part, installs slewing ring bearing, motor in platform main part top, installs the driving gear at the motor output epaxial, slewing ring bearing's the outside is the external gear, and this external gear and driving gear meshing and rotate under the rotation of driving gear, the platform main part rotates along with slewing ring bearing's rotation.
3. The AGV for storing and taking goods of claim 2, further comprising: the lifting mechanism comprises two synchronous belt mechanisms arranged side by side, each synchronous belt mechanism comprises a synchronous belt, a lifting synchronous belt idler wheel positioned at the top of the upright post, a driving belt wheel, a lifting motor positioned at the bottom of the lifting cargo space and a speed reducer, and the driving belt wheel is arranged on an output shaft of the speed reducer; the hold-in range is around driving pulley and hold-in range idler, the hold-in range is equipped with the fixed block on the one side of revolving stage face, and the platform main part of revolving stage is fixed on the fixed block and is reciprocated along with the fixed block.
4. The AGV for access goods of claim 3, characterized in that: a balancing weight is installed on one side of the synchronous belt back to the rotating table, a guide post extending from bottom to top is arranged in the goods shelf, a front guide wheel and a rear guide wheel are arranged on the outer side surface of the balancing weight, and the guide post is clamped between the front guide wheel and the rear guide wheel; the front guide wheel is abutted against the front surface of the guide post, and the rear guide wheel is abutted against the rear surface of the guide post.
5. The AGV access of claim 4, wherein: wheels are arranged below the walking vehicle body.
6. A rack assembly comprising an AGV according to any of claims 1 to 5, wherein: the storage shelf comprises a plurality of storage layers, and the highest storage layer is as high as the maximum height of the fork device.
7. A method for controlling an AGV according to any one of claims 1 to 5, characterized in that: when goods are taken, after the walking vehicle body is controlled to move to a specified place, the fork device is moved to the height of the goods through the lifting mechanism, the goods taking position of the fork device is rotated to the position of the goods through the rotating platform, and the goods are taken onto the fork device; rotating the goods outlet position of the fork device to face the goods position platform through the rotating platform, and pushing the goods from the fork device to the goods position platform;
when the goods are stored, the goods are pre-stored on the goods position platform, the fork device is moved to the height of the goods through the lifting mechanism, the goods taking position of the fork device is rotated to the position of the goods through the rotating platform, and the goods are taken onto the fork device; and then the goods delivery position of the fork device is rotated to the goods storage position through the rotating platform, and the goods are pushed to the storage position from the fork device.
8. The control method according to claim 7, characterized in that: after the goods are taken to the fork device by the rotating platform, the rotating platform rotates by 90 degrees to enable the goods discharging position to face the goods position platform.
9. The control method according to claim 7, characterized in that: when goods are taken, after the goods are placed on all the goods space platforms, one-time goods taking operation is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010697028.0A CN111874511A (en) | 2020-07-20 | 2020-07-20 | AGV (automatic guided vehicle) with buffer position for storing and taking goods, goods shelf assembly and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010697028.0A CN111874511A (en) | 2020-07-20 | 2020-07-20 | AGV (automatic guided vehicle) with buffer position for storing and taking goods, goods shelf assembly and control method |
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| Publication Number | Publication Date |
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| CN111874511A true CN111874511A (en) | 2020-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010697028.0A Pending CN111874511A (en) | 2020-07-20 | 2020-07-20 | AGV (automatic guided vehicle) with buffer position for storing and taking goods, goods shelf assembly and control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112830234A (en) * | 2020-12-30 | 2021-05-25 | 辜妃发 | Intelligent manufacturing assembly line transmission device |
| CN113753457A (en) * | 2021-01-05 | 2021-12-07 | 北京京东乾石科技有限公司 | Access vehicle, access system and access method |
-
2020
- 2020-07-20 CN CN202010697028.0A patent/CN111874511A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112830234A (en) * | 2020-12-30 | 2021-05-25 | 辜妃发 | Intelligent manufacturing assembly line transmission device |
| CN113753457A (en) * | 2021-01-05 | 2021-12-07 | 北京京东乾石科技有限公司 | Access vehicle, access system and access method |
| CN113753457B (en) * | 2021-01-05 | 2023-01-31 | 北京京东乾石科技有限公司 | Access vehicle, access system and access method |
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