CN112046982A

CN112046982A - Automatic guide carrying device and operation method thereof

Info

Publication number: CN112046982A
Application number: CN202010808608.2A
Authority: CN
Inventors: 久恒理树
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-08-12
Filing date: 2020-08-12
Publication date: 2020-12-08
Anticipated expiration: 2040-08-12
Also published as: CN112046982B

Abstract

The invention relates to an automatic guide handling device and an operation method thereof, wherein the device comprises a seat body, a jacking mechanism, a walking mechanism and a guide mechanism, wherein a driving assembly, a steering assembly, a jacking assembly and an electric element are sequentially arranged in the seat body; the jacking mechanism is matched with the jacking assembly and can extend out of or retract back from the upper surface of the seat body; the travelling mechanism is arranged below the seat body and is matched with the driving assembly and the steering assembly; the guiding mechanism is arranged under the seat body and used for guiding two directions of walking to be vertical to each other. The automatic guiding and carrying device provided by the invention has the advantages of small thickness, small occupied space and accurate operation, and can save the moving space and the channel space in the stereoscopic warehouse, so that the space utilization rate of the stereoscopic warehouse can be improved.

Description

Automatic guide carrying device and operation method thereof

Technical Field

The invention relates to the technical field of logistics, in particular to an automatic guide carrying device and an operation method thereof.

Background

Driven by both technology and economy, the logistics industry is rapidly transforming from traditional logistics to modern logistics. In the moving process of goods from a production place to a consumption place, the logistics chain related to multiple links of warehousing, transportation, distribution and the like is evolved towards automation, informatization, intellectualization and unmanned direction. Whether traditional logistics systems or modern logistics systems, generally comprise receiving and dispatching stations and distribution stations of various levels arranged according to administrative areas. The receiving and dispatching station is used as a terminal logistics chain to receive goods from a user, then primary sorting is carried out according to logistics destinations, and the primarily sorted goods are sent to a superior distribution station through transportation means such as trucks. The receiving and dispatching station simultaneously dispatches the goods in the district to the user. The distribution stations usually include sorting centers, transfer stations, and distribution centers for sorting the goods to other distribution stations, and some of the distribution stations also have receiving and dispatching stations. The aforesaid receiving and dispatching stations and distribution stations are usually equipped with warehouses of corresponding size for storing goods. Goods are loaded onto the truck through a loading platform, and when the truck delivers the goods to a delivery station, the goods are generally unloaded onto an unloading platform and then moved into a warehouse. The warehouse is internally provided with a goods shelf for storing and placing goods, and a channel is reserved between the goods shelf and the goods shelf for loading and unloading the goods.

The handling of goods at present, including the handling of goods from an unloading platform to a warehouse and the inside of the warehouse, generally includes several ways, such as manual, semi-manual and fully automated equipment. By the development of science and technology, most logistics systems all adopt semi-manual work at present, and the staff utilizes equipment to carry the goods promptly, if the staff drives fork truck, cooperates the lift to fetch and deposit the goods. Most of the existing intelligent warehouses adopt agv (automated Guided vehicle) trolleys to carry goods. AGV carts come in a variety of configurations depending on the size of the warehouse, the volume of the cargo, and the size of the cargo, for example, an AGV cart having a lift is provided in patent publication No. CN203715182U entitled "an AGV cart". The patent application with the publication number of CN104317289A and the invention name of 'a novel forklift type AGV' provides a forklift type AGV which can rotate in situ and reduce the turning radius when turning. Still other types of AGVs exist, such as piggyback AGVs, traction AGVs, and the like.

The structures and the operation methods of the AGV are all suitable for the current logistics mode, and are mainly applied to various large warehouses, and the AGV runs in a channel between shelves or carries goods in different areas, such as a sorting area and a delivery area.

Disclosure of Invention

Aiming at the technical problems in the prior art, the invention provides an automatic guide carrying device and an operation method thereof, which can reduce the occupation of space and operate accurately.

In order to solve the above technical problems, the present invention provides an automatic guiding and transporting device, which includes a base, a lifting mechanism, a traveling mechanism and a guiding mechanism, wherein the base includes a driving assembly, a steering assembly, a lifting assembly and an electrical component; the jacking mechanism is matched with the jacking assembly and is configured to extend out of or retract into a jacking rod from the upper surface of the seat body; the travelling mechanism is arranged below the seat body and is matched with the driving assembly and the steering assembly; the guiding mechanism is arranged under the seat body and is configured to guide the traveling direction of the traveling mechanism.

According to another aspect of the present invention, there is provided an operation method of an automated guided handling apparatus, including the steps of:

determining a walking route, wherein the walking route comprises more than one straight line segment, and every two adjacent straight line segments are vertical to each other;

after the automatic guiding and carrying device reaches a carrying target position according to the traveling route, stretching out the jacking mechanism to jack up the target goods; and

and according to the traveling route, the jacking mechanism is retracted after the target cargo is jacked to the target position of the destination so as to release the target cargo.

The automatic guiding and carrying device provided by the invention has the advantages of small thickness, small occupied space and accurate operation, and can save the moving space and the channel space in the stereoscopic warehouse, so that the space utilization rate of the stereoscopic warehouse applied by the device can be improved.

Drawings

Preferred embodiments of the present invention will now be described in further detail with reference to the accompanying drawings, in which:

FIG. 1 is a perspective block diagram of a library location unit according to one embodiment of the present invention;

FIG. 2 is a schematic view of a storage compartment according to one embodiment of the present invention placed in an inventory location;

FIG. 3A is a schematic view of a storage case according to one embodiment of the present invention;

FIG. 3B is a schematic view of another storage compartment according to another embodiment of the present invention;

FIG. 3C is a bottom schematic view of a storage device according to one embodiment of the present invention;

FIG. 4A is a front perspective view of a storage table according to one embodiment of the present invention;

FIG. 4B is a rear perspective view of a storage table according to one embodiment of the present invention;

FIGS. 5A-5B are schematic diagrams of a state where an AGV stops in an library cell according to one embodiment of the present invention;

FIGS. 6A-6B are schematic diagrams of a storage bay unit loaded with storage bins and resting an AGV according to one embodiment of the present invention;

FIG. 7 is a schematic diagram of a library site cell according to another embodiment of the present invention;

FIG. 8 is a schematic diagram of a library site cell according to another embodiment of the present invention;

FIG. 9 is a schematic diagram of a library site cell connection according to one embodiment of the present invention;

FIG. 10 is a schematic diagram of a library site cell connection according to another embodiment of the present invention;

FIG. 11A is a schematic diagram of a local connection structure of a library site unit according to another embodiment of the present invention;

FIG. 11B is a schematic diagram of a local connection structure of a library site unit corresponding to the structure shown in FIG. 11A;

FIG. 11C is an enlarged view of another bitcell connection based on the structure shown in FIG. 11B;

FIG. 12 is a schematic illustration of a stereoscopic warehouse according to one embodiment of the invention;

fig. 13A is a schematic illustration of a stereoscopic warehouse according to another embodiment of the invention;

figures 13B-13F are schematic illustrations of the movement of goods in a stereoscopic warehouse according to another embodiment of the invention;

FIG. 14A is a schematic illustration of a stereoscopic warehouse with one level of floors, according to one embodiment of the present invention;

fig. 14B is a schematic view of a stereoscopic warehouse with two horizontal floors according to another embodiment of the present invention;

fig. 15 is a schematic illustration of a stereoscopic warehouse according to another embodiment of the invention;

FIGS. 16A-16D are diagrammatic illustrations of an AGV according to one embodiment of the present invention in its entirety;

FIGS. 17A-17B are general schematic views of a drive assembly according to one embodiment of the present invention;

FIG. 18 is a schematic view with the drive wheel carrier removed, in accordance with one embodiment of the present invention;

FIG. 19 is a schematic view of a roller assembly and a portion of a drive assembly in accordance with one embodiment of the present invention;

FIG. 20 is a schematic view of a roller assembly and roller bracket according to one embodiment of the invention;

FIG. 21 is a schematic view of the overall construction of a steering assembly according to one embodiment of the present invention;

FIG. 22 is a schematic view of a portion of a steering assembly according to one embodiment of the present invention;

FIG. 23 is a schematic structural view of a steering mechanism according to an embodiment of the present invention;

FIG. 24 is a schematic view of another steering assembly in general configuration in accordance with an embodiment of the present invention;

FIG. 25 is a schematic diagram of a jacking assembly construction according to one embodiment of the present invention;

FIG. 26 is a partial schematic view of a jacking assembly according to an embodiment of the present invention;

27A-27C are schematic structural views of a jacking mechanism according to an embodiment of the present invention;

28A-28B are general schematic diagrams of the ram beginning to rise and rising to a predetermined height in accordance with one embodiment of the invention;

29A-29B are state diagrams of a positioning rod as it is retracted and extended, according to one embodiment of the present invention;

FIGS. 30A-30B are schematic illustrations of a guide wheel construction according to one embodiment of the present invention;

fig. 31 is a functional block diagram of a stereoscopic warehouse management system according to one embodiment of the invention;

FIG. 32 is an AGV stand-alone control according to one embodiment of the present invention; and

fig. 33 is a flowchart illustrating a stereoscopic warehouse goods storage method according to another embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the following detailed description, reference is made to the accompanying drawings that form a part hereof and in which is shown by way of illustration specific embodiments of the application. In the drawings, like numerals describe substantially similar components throughout the different views. Various specific embodiments of the present application are described in sufficient detail below to enable those skilled in the art to practice the teachings of the present application. It is to be understood that other embodiments may be utilized and structural, logical or electrical changes may be made to the embodiments of the present application.

The invention provides an automatic guiding and transporting device, which is called AGV for short hereinafter and is suitable for a novel logistics system. In the logistics system, the transportation means for storing and transporting goods comprises a stereoscopic warehouse, and the AGV provided by the invention is suitable for the stereoscopic warehouse and is used for transporting goods in the stereoscopic warehouse.

Most of the space in the three-dimensional warehouse is used as a storage space for accommodating the storage device. The storage device is, for example, a storage box or a storage table. In one embodiment, the storage device comprises a subsidiary turnover box and a main turnover box, wherein the subsidiary turnover box is of a closed structure and is used for placing goods, and the subsidiary turnover box is placed in the main turnover box or on the storage platform. An object moving space for accommodating an object moving device, such as an ultrathin AGV, is arranged above or below the storage space. The storage device of the storage space is moved through the object moving device to complete the operations of goods entering, exiting, moving in the warehouse and the like. According to the specific structural design of the storage space and the article moving space, the volume ratio of the storage space to the article moving space can be greater than or equal to 4:1, or 5:1, or 6:1, or 7:1, or 8:1, or 9:1, or 10: 1. The stereoscopic warehouse provided by the invention has far more space utilization than any traditional warehouse or modern intelligent warehouse in the prior art.

Embodiment of the library site Unit

In one embodiment, the present invention provides a standardized, modular storage unit that can be stacked together to form a space efficient stereoscopic warehouse.

FIG. 1 is a perspective block diagram of a standardized, modular library site unit in accordance with one embodiment of the present invention. The storage unit 1 at least comprises a cubic frame, which comprises four upright posts 111, four frames 112 at the top and a bottom plate 113. The four uprights 111 of the cubic frame are connected with a support structure by means of which the storage device is supported. In this embodiment, the support structures are support blocks, with one or more inwardly facing support blocks 12 attached to each upright. In other embodiments, the support structure may be a fan-shaped structure connected to the upright and facing the storage space, wherein the arc of the fan-shaped structure is less than or equal to 90 degrees.

The bottom surface of the three-dimensional frame of the storage location unit is a whole bottom plate 113. In other embodiments, the bottom plate 113 may be hollowed or woven as required, so as to save cost. In order to be able to determine the distribution of the goods in the three-dimensional space, each storage space unit is provided with an identity tag 14. As shown in fig. 1, the identity tag 14 may be an electronic tag located at a suitable position on the base plate 113, in which the identity information of the library location unit, such as a number in the library, is recorded.

The space inside the cube frame of the storage space unit 1, from the support block 12 to the top of the cube frame, comprises a storage space 101 for accommodating storage devices, such as the female turnover box 2 in this embodiment. Referring to fig. 2, a schematic diagram of a state where the parent container 2 is placed in the library unit 1 is shown. The purpose of providing the mother turnover box 2 is to be able to utilize the storage space of the storage location unit as much as possible. Since the stored goods have various possibilities in specification, volume and shape, and the like, the goods or the subsidiary containers with different specifications and different volumes can be orderly collected through the main container 2. The four supporting blocks 12 of the cubic frame support the bottom of the mother turnover box 2, so that the mother turnover box 2 can be stably stored in the storage space 101.

In one embodiment, the goods are placed in a sub-container (not shown). The subsidiary turnover box is placed in the main turnover box 2. In some embodiments, the female turnover box 2 includes a first body having a size matching the specification of the storage space 101 of the storage space unit 1 in the present embodiment. As shown in fig. 3A, the height of the first body 20 of the main circulation box 2 matches with the storage space 101, and the top of the first body 20 is open for taking and placing the sub circulation box or goods from the top surface. In other embodiments, as shown in fig. 3B, the height of the first body 20 of the mother turnover box 2 is lower than the height of the storage space 101. In other embodiments, as shown in fig. 4A-4B, the storage device is a storage table, and a rim 22a is disposed around the first body 20 a. The positioning grooves 23a of multiple specifications are orderly arranged on the first body 20a and are used for accommodating goods or sub-turnover boxes of different specifications and different volumes.

In the foregoing three embodiments, the bottom of the first body 20 of the parent turnover box 2 has the conveying structure. As shown in the figure, the conveying structure may be a positioning structure 21 matched with a jacking mechanism of the article moving device, so that the article moving device can jack the mother turnover box 2 from the bottom of the first body 20 of the mother turnover box 2. In some embodiments, each parent container 2 is provided with an identity tag 24, as shown in fig. 3C. In one embodiment, the identity tag is an electronic tag, in which the identity information of the parent turnover box 2, such as the number of the parent turnover box 2, is recorded.

In some embodiments, from the support block 12 to the bottom of the cubic frame is a specimen moving space 102, which is used as a walking space of the specimen moving device. In one embodiment, the mover employs an AGV 3. The AGV3 moves within the transfer space 102. The floor 113 of the storage unit 1 serves as a moving object support structure, i.e., a traveling surface for the AGVs 3, and is schematically illustrated in fig. 5A to 5B in a state where the AGVs 3 are stopped in the storage unit 1. In some embodiments, referring to fig. 1, the bottom plate 113 is orthogonally provided with a guide groove 1131, which is a moving object guiding device. Because of the rectangular shape of floor 113, orthogonally disposed guide slots 1131 are parallel to respective bottom edges so that AGV3 can move unimpeded on floor 11 a. Two guide wheels 31 are provided at the bottom of the AGV3 for engaging the guide slots 1131, as shown in fig. 5B, to prevent the AGV3 from deviating from the travel path during travel. In this embodiment, a set of orthogonal guide slots 1131 are provided in floor 113, or two or three sets may be provided, with corresponding guide wheels 31 also being provided at corresponding locations on the bottom of AGV 3.

The guide slots and wheels are used to force the AGV to stay in the path without deviating from it during travel. According to similar thinking, can set up the sand grip on frame bottom surface 113, set up matched with recess on the AGV bottom surface, the effect that can play the direction equally. The mechanical mode is low in cost and high in stability, and a control system is easy to realize.

In addition to the two mechanical configurations described above, other configurations may be used to guide AGV3, such as electromagnetic, laser, infrared, ultrasonic, UWB, or optical configurations. Any kind of guiding structure can be selected by those skilled in the art according to actual needs, and will not be described herein.

In some embodiments, to move the parent tote 2, a jack 32 is provided on the top of the AGV3, and the jack 32 is retracted within the top of the AGV3 when no load is being moved. When it is desired to move the load, the lift mechanism 32 extends from the top of the AGV3 and engages the locating structure 21 on the bottom of the parent container 2 to lift the parent container 2 from the support block as the lift mechanism 32 is raised.

In some embodiments, an electronic tag reader/writer (not shown) is disposed outside the lower surface of AGV3 for reading the id tag of library location unit 1; an electronic tag reader-writer (not shown in the figure) is arranged outside the upper surface of the base body and used for reading the identity tag of the mother turnover box 2.

Fig. 6A-6B show a state in which one magazine unit 1 is loaded with mother turnover boxes 2 and stops one AGV 3. In order to move the mother turnover box 2, the AGV3 moves below the moving mother turnover box 2 and stops, the mother turnover box 2 is jacked up by the jacking mechanism 32 to separate the mother turnover box 2 from the supporting block 12, and then the AGV3 drives the mother turnover box 2 to move. A lifting space 103 is left in the storage unit 1 for the parent container 2, so that the AGV3 can lift the parent container 2 from the supporting block 12, so as to be separated from the supporting block 12 for moving. The height of the lifting space 103 is matched with the lifting distance of the jacking mechanism of the AGV3, and the mother turnover box 2 can be moved without hindrance after the jacking mechanism 32 of the AGV3 jacks up the mother turnover box, so that the lifting space 103 does not need to be too large, for example, the height of the lifting space 103 may be less than 5cm, or less than 3cm, or less than 1 cm.

In this embodiment, the thickness of the AGV3 used to move the load determines the size of the transfer space 102, while the thickness of the AGV3 is only a small portion of the height of the storage unit 1, so that most of the storage space in the storage unit 1 is the storage space. According to the size and the load capacity of the mother turnover box 2, the space occupied by the inner components of the AGV3 and the load capacity of the inner components, the ratio of the thickness of the AGV to the height of the storage unit 1 can be found in the range of 1/11-1/5 through calculation, that is, the space utilization rate of one storage unit 1 can reach 80% -90%. When the object moving device adopts other modes, such as magnetic suspension and the like, the space utilization rate can reach 95%.

Second embodiment of the library site Unit

FIG. 7 is a diagram illustrating a library site unit according to another embodiment of the present invention. In this embodiment, the library site unit 1b includes at least one cubic frame including four columns 111b, a top plate 112b, and a bottom plate 113 b. The top plate 112b is provided with a guide rail 1121b, the moving device is a telescopic manipulator 3b which is connected to the guide rail 1121b through a hanging mechanism 31b, and the hanging mechanism 31b can rotate 360 degrees to rotate the manipulator 3b, and can also be telescopic up and down to lift the manipulator 3 b.

The parent container 2b differs from the previous embodiment in that the carrying structure is a handle 21b disposed on the four top edges of the first body, and the identity tag can be disposed on any one of the four top edges of the first body for reading by the moving device disposed thereon.

The mother turnover box 2b is placed on the bottom plate 113b, the hanging mechanism 31b drives the manipulator 3b to move above the mother turnover box 2b along the guide rail 1121b, the manipulator 3b is expanded to correspond to the handle 21b, so that the handle 21b of the mother turnover box 2b is grabbed, the mother turnover box 2b is grabbed from the bottom plate 113b, and the goods are moved along the x direction or the y direction through the guide rail, so that the horizontal crossed movement of the goods is realized. In this embodiment, the article moving space 102b where the article moving device is located is above the article storage space 101b, and the space occupied by the article moving device can be reduced by the structure of the article moving device, such as the manipulator 3b, so that the ratio of the article storage space 101b to the article moving space 102b in this embodiment can be at least greater than 2: 1.

library site unit embodiment III

FIG. 8 is a diagram illustrating a library site unit according to another embodiment of the present invention. In this embodiment, the storage unit 1c includes at least one cubic frame including four columns 111c, partitions 112c, and a bottom plate 113 c. The partition plate 112c is connected to the upper half of the column 111c, and forms an object moving space 102c with the plane of the top end of the column, and the partition plate 112c is used as an object moving support structure, and is provided with a guide rail or a guide groove for guiding the operation of the object moving device 3c on the partition plate 112 c. The mother turnover box 2 is placed on the bottom plate 113 c. The mother turnover box 2 and the transferring device 3c have a contactless connection structure. For example, the transferring device 3c generates a suction force when the mother turnover box 2 needs to be moved, and the suction force can be a suction force generated when vacuum is drawn or an electromagnetic suction force. Correspondingly, the first body of the mother turnover box 2 is provided with an adsorption device, which can be a vacuum adsorption device or an electromagnetic adsorption device corresponding to the transferring device 3c, and the adsorption device is attracted by the transferring device 3c to leave the bottom plate 113c and move along with the transferring device 3c, so that the goods are moved in a crossing manner in the horizontal direction. In the embodiment, the partition 112c and the bottom plate 113c include a lifting space 103c and a storage space 101c therebetween, and the object moving space 102c is above the partition 112 c. The height of the lifting space 103c is the height of the parent container 2 away from the base 113c when being sucked, and thus the height of the space can be small, such as centimeter or millimeter. The volume of the article moving device 3c is not required to be large, so the height of the article moving space 102c is small relative to the height of the storage space 101c, the space in the storage unit 1c is mostly the storage space 101c, and the storage space 101c can reach over 75% of the whole space.

The warehouse location unit provided by the invention is a modular and standardized storage unit, and a stereoscopic warehouse can be obtained when a plurality of units are stacked and connected together. In some embodiments, adjacent library site cells may share a pillar. That is, the vertical column of the stereoscopic warehouse can be shared by the warehouse location units adjacent to each other left and right or up and down. When a stereoscopic warehouse is manufactured, a plurality of storage units are also formed at the same time.

In other embodiments, all or some of the adjacent bay units in the stereoscopic warehouse may each have their own columns in order to increase the flexibility of the stereoscopic warehouse. In order to connect the storage position units together, the three-dimensional frame of the storage position unit provided by the invention is respectively provided with connecting structures with corresponding dimensions in three dimensions, and the connecting structures are used for connecting different storage position units together.

Embodiment one of the library site unit connection structure

FIG. 9 is a schematic diagram of a library bit cell connection. In this embodiment, the three-dimensional frame of the storage unit is provided with a connecting hole 11a, when two storage units 1 are connected together, the respective connecting holes 11a are communicated, and at this time, the two storage units 1 can be connected together by using a bolt and a nut (not shown in fig. 12).

Second embodiment of the library site unit connection structure

FIG. 10 is a schematic diagram of another library bit cell connection. In this embodiment, more than one groove is arranged on one upright post or edge on the three-dimensional frame, when two storage position units are parallel, the two grooves are corresponding, and the buckle 11b is buckled in the groove, so that the two storage position units are connected together. Through setting up a plurality of recesses at a storehouse position unit's x, y, z three-dimensional, can connect other storehouse position units in three dimensions, can connect arbitrary a plurality of storehouse position units as required.

Third embodiment of the library site unit connection structure

FIGS. 11A-11C are schematic diagrams of yet another library bit cell connection. As shown in fig. 11A, more than one groove 11c is provided on each upright post or edge on the three-dimensional frame, as shown in fig. 11B, another storage location unit is provided with a convex strip or a convex block 11d, and when two storage location units with the same specification are juxtaposed, one storage location unit convex strip or convex block 11d is matched with the other storage location unit groove 11c for plugging together. In addition, in order to make the connection between the two storage units after the insertion, as shown in fig. 11C, a hook 11e may be disposed at the end of the protrusion 11d, and a corresponding slot (not shown) may be disposed in the corresponding groove 11C, and when the protrusion 11d is inserted into the groove 11C, the hook 11e and the slot are engaged with each other, so that the connection is more secure.

In the above warehouse location unit connection structure, the connection structures are respectively arranged in three dimensions, so that other arbitrary warehouse location units 1 can be connected in two horizontal directions X, two longitudinal directions Y and two directions Z, and stereoscopic warehouses with different warehouse location unit numbers and different volumes can be obtained.

Embodiment of stereoscopic warehouse structure

Referring to fig. 12, a schematic view of a stereoscopic warehouse according to an embodiment of the present invention is shown. In this embodiment, the stereoscopic warehouse comprises a plurality of warehouse location units 1 horizontally connected together. Each warehouse location unit 1 can extend and connect in the x direction and the y direction, thereby forming the stereoscopic warehouse with different specifications according to the actual requirement. When the storage position units are connected together, the respective article moving spaces are communicated with each other to form an integral large article moving space. Because the extension length of the supporting structure for supporting the storage device is very small, the AGV cannot be prevented from moving. Thereby allowing the AGV to move freely across the entire transfer space in both the x-direction and the y-direction. For example, an AGV lifts up its storage device in one of the storage units and then moves to another storage unit; after positioning, the jacking mechanism is withdrawn, and the storage device is placed on the support structure of the new storage location unit, thereby completing the movement of the storage device.

Second embodiment of the stereoscopic warehouse structure

Referring to fig. 13A, a schematic view of a stereoscopic warehouse according to another embodiment of the invention is shown. In this embodiment, a plurality of storage units are stacked and connected to form a two-layer stereoscopic warehouse. Of course, three or more layers may be used according to actual needs. In order to realize that the article moving device and the article storing device can move between different layers, the lifting system 4 is further included. The lifting system 4 comprises a support column 41 and a lifting platform 42. The lifting platform 42 is matched with the supporting upright 41, ascends or descends under the driving of the driving mechanism, and can be butted with a storage position unit at any height. The structure of the top of the lifting table 42 is the same as that of the base plate 113 of the storage location unit, and when the lifting table 42 is butted and positioned with the storage location unit 1, the top of the lifting table 42 forms a part of the moving space.

When the AGV3 needs to change floors, the lift 42 moves to the corresponding floor, the AGV3 moves to the floor of the lift 42, the lift 42 moves to the target floor again, the AGV3 stops after abutting and positioning with the storage location unit of the target floor, and the AGV3 moves from the floor of the lift 42 to the target floor. When it is necessary to transfer a parent container 2 on the lower layer, or a parent container 2 received from the outside, to a stock location unit on the upper layer. The AGV3 carries the storage device to the elevator platform 42 as shown in FIG. 13B. The elevating table 42 is driven by the driving mechanism to ascend as shown in fig. 13C. When reaching the upper layer, the lifting platform 42 stops rising, and is butted and positioned with the storage position unit of the upper layer, as shown in fig. 13D. The AGV3 carries the parent container 2 toward the target library bit position, as shown in fig. 13E. When the target magazine position is reached and stopped, the jack-up mechanism is withdrawn and the parent container 2 is placed on the support structure of the target magazine position, as shown in fig. 13F.

Third embodiment of stereoscopic warehouse structure

Referring to fig. 14A-14B, schematic illustrations of a stereoscopic warehouse according to another embodiment of the invention. In this embodiment, the stereoscopic warehouse includes an integral frame, which is cross-connected by a plurality of cross beams 111c and a plurality of columns 112c, thereby forming a plurality of storage units 1. The storage units 1 form a unit array in horizontal and vertical directions. As shown in fig. 14A, a horizontal one-story stereoscopic warehouse is formed, and as shown in fig. 14B, a two-story stereoscopic warehouse is formed. The storage unit 1 is used for accommodating a storage device (not shown in the figure), such as a mother turnover box or a storage table. A support structure 12 is provided on each upright 112c, and a storage device is placed on the support structure 12. As shown by the dashed lines, the space from the support structure 12 to the top of the storage device constitutes a storage space 101, and the space from the support structure 12 to the bottom plate 113c constitutes a transfer space 102. A certain height of distance is left between the top of the storage device (not shown) and the cross beam 111c, or between the goods on the top of the storage device and the upper floor 113c, which is a lifting space (not shown). In order to drive the storage device to move together in the object moving space 102, the object moving device moves to a position below the storage device, the storage device is jacked up by using a jacking mechanism, and then the object moving device moves horizontally in the object moving space 102 without hindrance. Therefore, the height of the lifting space 103 is determined according to whether the female turnover box 2 can move without hindrance by the jacking mechanism. For example, the height may be less than 5cm, or less than 3cm, or less than 1 cm.

In order to realize the movement of the object moving device between the storage units in the vertical direction, a lifting system may be further included, such as the lifting system shown in fig. 13A, which may be referred to in the descriptions corresponding to fig. 13A to 13F, and will not be described herein again.

Fourth embodiment of the stereoscopic warehouse structure

Referring to fig. 15, fig. 15 is a schematic view of a stereoscopic warehouse according to yet another embodiment of the present invention. In this embodiment, the stereoscopic warehouse includes a plurality of storage layers and a plurality of transfer layers (two storage layers and two transfer layers are shown in this embodiment), and the structural relationship of the storage layers and the transfer layers may be as any one of embodiments one to three. Different from the first to third embodiments, the heights of the transfer layers and the heights of the transfer layers in the present embodiment are not all the same, wherein the height of the upper layer storage position unit 1a1 is smaller than the height of the lower layer storage position unit 1a2, so that storage devices with different specifications can be used, and the specifications of goods which can be stored are increased. In this embodiment, the overall framework adopted by the stereoscopic warehouse may also be formed by combining and connecting a plurality of individual warehouse location units.

AGV embodiment

Referring to fig. 16A-16D, an overall view of an AGV is provided in accordance with one embodiment of the present invention. In this embodiment, the AGV includes a seat 30, a driving assembly 33, a steering assembly 34, a jacking assembly 35, an electrical component box 36 and a battery box 37 sequentially disposed inside the housing. A guiding mechanism, in this embodiment a guide wheel 31, is provided under the seat 30, and there are two sets, two in each set, for guiding the AGV to travel in two directions perpendicular to each other. The jacking mechanism composed of the jacking rods 32 and other structures is matched with the jacking assembly 35 in the seat body 30, and can extend out of or retract into the upper surface of the seat body 30. A traveling mechanism, in this embodiment four roller assemblies 38 disposed at four corners, is disposed under the seat body 30, and is matched with the driving assembly 33 and the steering assembly 34 inside the seat body 30.

Fig. 17A-17B are overall schematic views of the driving assembly 33, wherein fig. 17B is a schematic view of the seat body housing removed, and refer to fig. 16D. The drive assembly 33 includes: the driving motor 330 is used for outputting walking driving force. In order to transmit power to the four travelling mechanisms, a multi-stage transmission mechanism is also included. In this embodiment, a synchronous belt transmission mechanism is adopted, the primary transmission mechanism includes a driving pulley 332 and driving synchronous pulleys 334 corresponding to the four traveling mechanisms, and the power of the driving motor 330 is transmitted to the driving synchronous pulleys 334 through the synchronous belt 333. In the present embodiment, since the axis of the output shaft of the driving motor 330 is parallel to the bottom surface, the power transmission direction is vertical to the bottom surface, and the axis of the four driving timing pulleys 334 is vertical to the bottom surface, the power transmission direction is parallel to the bottom surface. Therefore, in order to change the transmission direction of the output power, the present invention further includes a reversing mechanism between the end of the output shaft of the driving motor 330 and the axle of the driving pulley 332, as shown in fig. 18, which is a schematic view after the driving pulley support 331 is removed. In this embodiment, a bevel gear 3351 is connected to the end of the driving wheel shaft 3321, and a bevel gear 3352 is connected to the end of the output shaft of the driving motor 330, so that the vertical power of the output shaft of the driving motor 330 is converted into horizontal power through the two bevel gears. Wherein an idler is provided on each side of the driving wheel 332 to ensure that the driving wheel 332 and the synchronous belt have sufficient contact area to transmit power.

As shown in fig. 19 to 20, since the roller assembly 38 in the present embodiment includes the roller body 381, the centers of the two are fixed by the roller axle 382. The roller body 381 can be driven to rotate along the radial direction of the shaft by driving the roller axle 382 to rotate. The drive roller shaft 382 is thus powered vertically and the drive timing pulley 334 is powered horizontally, thus including a two-stage reversing mechanism. In the present embodiment, a bevel gear 3361 is connected to the end of the driving timing pulley 334, and the horizontal power transmitted to the driving timing pulley 334 is converted into the vertical power by another bevel gear 3362 engaged therewith. The roller synchronizing wheel 337 is coaxially connected to the bevel gear 3362 (the shaft is not shown), and the roller synchronizing wheel 337 and the roller shaft 382 are connected via a timing belt, so as to drive the roller shaft 382 to rotate, thereby driving the roller body 381 to roll.

In this embodiment, four roller assemblies are provided and one driving motor is used, and those skilled in the art should understand that the number of the roller assemblies and the number of the driving motors can be set appropriately according to the size of the AGV seat. When a plurality of driving motors are provided, the synchronous operation of the driving motors needs to be controlled.

Fig. 21 is a schematic view of the overall structure of a steering assembly according to an embodiment of the present invention. Referring also to fig. 16D, in the present embodiment, the steering assembly 34 includes a steering motor 340 and a steering mechanism. The steering mechanism is fixed with the traveling mechanism, and the transmission mechanism is further included for transmitting steering power to the steering mechanism. In this embodiment, the transmission mechanism includes a steering capstan 342 and a steering synchronizing wheel 344 located in the steering mechanism. In this embodiment, the steering driving wheel 342 uses a timing belt 343 to drive the steering timing wheel 344 to rotate. Since the direction of the output power of the steering motor 340 is radial, i.e. vertical to the bottom surface, and the steering mechanism needs horizontal power, a reversing mechanism is further included between the output shaft of the steering motor 340 and the steering driving wheel 342, as shown in fig. 22, the end of the wheel shaft of the steering driving wheel 342 is connected with a bevel gear 3451, and the end of the output shaft of the steering motor 340 is connected with a bevel gear 3452 matched with the bevel gear 3451, so as to change the axial power transmitted by the output shaft of the steering motor 340 into radial power, i.e. to change the transmission direction of the power from vertical to horizontal.

Fig. 23 is a schematic structural view of a steering mechanism according to an embodiment of the present invention. The steering synchronizing wheel 344 is connected with a bogie, which mainly comprises a bogie 3461 and a wheel carrier 3462. The two side ears of the wheel frame 3462 are fixed to the roller wheel shaft 382, the top of the wheel frame 3462 is a fixed surface, the top is provided with connecting holes, such as screw holes, and the periphery is provided with bosses, see fig. 20. The steering synchronizing wheel 344 is fixed to a boss of a fixed surface of the wheel frame 3462. The bottom of the bogie 3461 is fitted to the top of the wheel frame 3462 and is provided with attachment holes corresponding to the attachment holes of the fixed surface of the wheel frame 3462 for attaching the bogie 3461 and the wheel frame 3462 together by means of attachment members. The top of the bogie 3461 is fixed to the axle that drives the synchronizing wheel 334.

When the steering motor 340 rotates, the output shaft thereof outputs axial power. Axial power is converted into radial power through the bevel gear, a steering driving wheel shaft coaxial with the bevel gear drives a steering driving wheel 342 to rotate, the driving wheel 342 drives a steering synchronous wheel 344 to rotate through a synchronous belt, the steering synchronous wheel 344 drives a bogie fixed with the steering synchronous wheel 344 to rotate, the bogie 346 drives a roller wheel shaft and a roller synchronous mechanism, a reversing mechanism and a driving synchronous wheel 334 connected with the roller wheel shaft to rotate together, accordingly, the rolling direction of a roller body 381 is changed, the roller synchronous mechanism, the reversing mechanism and the driving synchronous wheel are controlled to rotate in situ, and the turning radius is 0. As shown in fig. 24, the view is a schematic view after 90 degrees rotation with respect to fig. 21.

In the invention, the driving synchronizing wheel of the driving mechanism and the steering synchronizing wheel of the steering mechanism are coaxially fixed and are integrated with the roller assembly in the traveling mechanism through the bogie, thereby ensuring the miniaturization of the AGV, reducing the thickness of the AGV and reducing the occupation of space during transportation.

FIG. 25 is a schematic diagram of a jacking assembly structure according to an embodiment of the present invention. The jacking assembly 35 includes a jacking motor 350 for outputting jacking power. In order to transmit power to the jacking mechanism, a transmission mechanism is further included. In this embodiment, there are 4 push rods 32 and their matching structures, which are used as a mechanism for transporting the goods when the AGV transports the goods, and are uniformly distributed at four corners of the seat 30. In order to transmit the power of the jacking motor 350 to the 4 jacking rods 32 and the matched structure thereof synchronously, the invention comprises a jacking driving wheel 352 and 4 jacking synchronous wheels 354 positioned on the 4 jacking mechanisms, and the four jacking rods 32 are provided with guide wheels 321. Idler pulleys are respectively arranged on two sides of the jacking driving wheel 352 and the jacking synchronous wheel 354 for adjusting the direction of the synchronous belt 353.

FIG. 26 is a partial schematic view of a jacking assembly according to one embodiment of the present invention. In this embodiment, a reversing mechanism, such as a pair of engaged umbrella wheels, is provided at the end of the output shaft of the jacking motor 350 and the end of the axle of the jacking driving wheel 352 for changing the transmission direction of the jacking power.

Fig. 27A-27C are schematic structural views of a jacking mechanism according to an embodiment of the present invention. In this embodiment, the jacking mechanism including the ram 32 further includes a gear 321, a transmission rack 322, a cross bar 323 at the side of the rack, and a locking solenoid valve 324. In order to transmit the power transmitted from the lift-up driving wheel 352 to the gear 321, a reversing mechanism is further included. Such as a pair of

bevel gears

3541 and 3542. Gear 321 is coaxial with bevel gear 3542 (the shaft is not shown).

When the jacking motor 350 rotates, the direction of the machine changing mechanism is changed, the jacking motor 350 drives the jacking driving wheel 352 to rotate, the jacking driving wheel 352 drives the jacking synchronous wheel 354 to rotate, the jacking synchronous wheel 354 drives the gear 321 to rotate through the reversing mechanism, and the transmission rack 322 meshed with the gear 321 rises or falls along with the rotating direction of the gear 321. As shown in fig. 29A, when the driving rack 322 rises to a certain height, the cross bar 323 at the side of the rack abuts against the bottom end of the top rod 32, and as the driving rack 322 continues to rise, the cross bar 323 pushes the top rod 32 to rise, and the top rod 32 extends out of the upper surface of the seat body. When the top rod 32 is lifted to the preset height, the jacking motor 350 stops rotating, and the transmission rack 322 stops lifting, as shown in the state of fig. 27B and 27C. The lock solenoid valve 324 operates to lock the ram 32 from descending. Referring to fig. 27, 28A and 28B, there are respectively shown the whole schematic views of the ram 32 at the time of retraction, at the start of ascent and at the time of ascent to a predetermined height.

Although 4 jacking mechanisms are provided in the present embodiment, it should be understood by those skilled in the art that the number of the jacking mechanisms is not only 4, but also can be, for example, a plurality of jacking mechanisms, such as 8 jacking mechanisms. Or the lifting mechanism is adjusted, for example, the ejector rod is thickened or the structure of the top of the ejector rod is improved according to stress calculation, so that the area of the lifting mechanism is increased, and the number of the locking mechanisms with proper stress can be reduced to 3, 2 or 1.

In order to enable the AGV to accurately stop at a predetermined position in an unstable transport environment, the present invention further includes a positioning mechanism. Referring to fig. 27C, in the present embodiment, the positioning mechanism is the positioning rod 39, and the mechanism for driving the positioning rod to ascend and descend adopts a structure for driving the push rod 32, so that not only can the ascending and descending of the positioning rod 39 be controlled, but also the space occupation is reduced. In this embodiment, the top end of the positioning rod 39 is opposite to the cross rod 323, and when the cross rod 323 moves downward along with the transmission rack 322, the positioning rod 39 is pressed out from the lower surface of the seat body, as shown in fig. 29A-29B. In this embodiment, the positioning rod 39 and the cross rod 323 can be integrally designed, that is, the movement of the positioning rod 39 moves along with the cross rod 323, and when the jacking motor 350 controls the cross rod 323 to ascend, the positioning rod 39 ascends synchronously to retract into the seat body. In another embodiment, a return structure, such as a return spring, may be designed for the positioning rod 39. The return spring is compressed while the cross bar 323 presses the positioning rod 39 down. When the cross rod 323 rises, the return spring drives the positioning rod 39 to return.

In the present embodiment, the driving motor 330, the steering motor 340, and the jacking motor 350 may be stepping motors or servo motors, so that the running distance may be precisely controlled. Because the lifting motor 350 has a small lifting control distance and a large moment, a planetary reducer can be configured for achieving control accuracy.

In addition, whether to use the reversing mechanism can be determined according to the installation direction of the motor. In this embodiment, the output shafts of the various motors are parallel to the bottom surface, thus requiring a reversing mechanism. When the motor is rotated 90 degrees to make the output shaft vertical to the bottom surface, the reversing mechanism is not needed. In addition, the bevel gear is adopted for reversing in the embodiment, and other structures, such as a worm and gear structure, can be adopted according to the conditions of the inner space of the seat body and the like.

Fig. 30A-30B are schematic views of a guide wheel assembly in the guide mechanism. Referring to fig. 17A and 29A, the bottom of the housing of the seat 30 is provided with an embedded guide groove 310, in which a guide wheel assembly is disposed. The guide wheel assembly includes a wheel frame 310, a guide wheel 31, a control lever 312, and a position sensor (not shown in the drawings). One end of the wheel frame 310 is fixed at one end of the guide groove 310 through a shaft 3100, the other end of the wheel frame 310 is fixed with the guide wheel 31, the middle position is connected with the tail end of the control rod 312 through a shaft 3120, the head end of the control rod 312 is fixed in the guide groove 310, the position sensor is arranged in the guide groove 310, and the position sensor is adjusted to trigger the guide wheel 31 to send a positioning signal after the guide wheel is put down and enters the guide groove of the driving surface. In one embodiment, as the guide wheel controller, according to the principle of an electromagnetic lock, the control rod 312 is configured as an electromagnetic lock, and the state shown in fig. 30A is a state when the control rod 312 is not energized, and at this time, the control rod 312 does not generate a suction force, and the guide wheel 31 is in a down state, and preferably, a structure such as a spring may be further provided inside or on the wheel carrier 312, and presses the wheel carrier 310 to prevent the guide wheel 31 from jumping upwards. Fig. 30B shows a state in which the lever 312 is energized, and the lever 312 generates suction force at this time, and the suction wheel frame lifts up the guide wheel 31. Referring to FIG. 16B, in this embodiment, there are two sets of guide wheel assemblies, two for each set, and two sets are vertically disposed. When the AGV moves in one direction, the two guide wheels in the direction descend to be matched with the guide grooves, as shown in the state of fig. 30A, at this time, the positioning sensor is triggered to send a signal; the other two guide wheels are lifted and retracted, and in the state shown in fig. 30B, the corresponding positioning sensors stop generating signals, so that the guide wheels and the guide grooves can be determined to be well matched, and the normal running of the AGV is ensured. When the AGV turns to 90 degrees, two guide wheels in the original direction rise and are retracted, the other two guide wheels fall to be matched with the guide grooves, and the AGV starts to run after the guide wheels are matched with the guide grooves through the positioning sensor signals.

In order to complete the control of the AGV and the lifting platform, the stereoscopic warehouse of the present invention further includes a motion control system. Fig. 31 is a schematic block diagram of a stereoscopic warehouse management system according to an embodiment of the invention. The stereoscopic warehouse management system includes a motion control system 162 and a cargo management system 161, wherein the stereoscopic warehouse management system may be located locally or remotely. The motion control system 162 includes a travel control module 1621 for controlling the AGV and a lift control module 1622 for controlling the lift system. The travel control module 1621 is an upper control module of the AGV, and is mainly used for task allocation, vehicle driving, route planning management, traffic management, communication management and the like for a plurality of AGV units in the warehouse.

Wherein, the task management provides the execution environment of the AGV single machine. Scheduling the operation of a plurality of AGV according to the task priority and the starting time; various operations such as start, stop, cancel, etc. are provided for the AGV stand-alone.

The vehicle driver is responsible for collecting the AGV state, sends a request for allowing the traveling segment to the traffic management, and simultaneously sends the confirmation segment to the AGV.

And route planning management, namely allocating and scheduling the AGV to execute tasks according to the request of the cargo handling tasks, calculating the shortest walking path of the AGV according to the shortest walking time principle of the AGV, and controlling and commanding the walking process of the AGV.

Traffic management: and providing measures for automatic avoidance of the AGVs according to the running state and the path condition of the AGVs.

Communication management: provides the communication function of the walking control module 1621 with the AGV stand-alone system 164 and other upper computers. Wherein, a wireless communication mode is adopted between the walking control module 1621 and the AGV stand-alone system 164, and the walking control module 1621 communicates with a plurality of AGV stand-alone systems 164 by a polling mode; the walking control module 1621 may communicate with other upper computers and cloud systems in a TCP/IP manner.

FIG. 32 shows an AGV stand-alone control apparatus according to one embodiment of the present invention, which is disposed inside the housing 30, and includes: a task management module 301, a movement control module 302, and a conveyance control module 303. The task management module 301 communicates with the upper computer through the communication module 304, and is configured to receive the carrying task and send related information in the task completion process to the upper computer. The carrying task at least comprises an identity and a target position of the target cargo. In one embodiment, the planned walking route, that is, the walking route from the current position to the carrying target position and then to the destination target position, may also be received from the upper computer. The task management module 301 sends the target location or the planned walking route to the movement control module 302.

When only the target position exists, the mobile control module 302 calculates a walking route according to the current position and the position relation data stored in the mobile control module, and if the walking route is received, the mobile control module controls the driving motor and the steering motor to walk and/or steer according to the planned route. The walking route is composed of a plurality of straight line segments. When the AGV is applied to the stereoscopic warehouse, two adjacent straight line sections are 90 degrees, namely, the AGV travels in the vertical direction and the horizontal direction. In the straight line segment, the movement control module 302 determines the total number of turns of the driving motor 330 according to the distance of the straight line segment and the distance traveled by the roller assembly 38 per turn of the driving motor 330, and determines the required number of driving pulses according to the total number of turns, so that the traveling distance of the AGV can be accurately controlled. When the straight line segment is finished and the turning is needed to be 90 degrees, the movement control module determines the pulse number needed by the turning for 90 degrees according to the radius of the turning synchronizing wheel 344, controls the turning motor 340 to turn for 90 degrees, and meanwhile, the left guide wheel and the right guide wheel are placed down and the front guide wheel and the rear guide wheel are lifted. Since the synchronizing wheel 334 is driven to rotate synchronously during steering, and since the roller assembly is driven to travel by the synchronous rotation of the synchronizing wheel 334, a corresponding number of pulses is sent to the driving motor 330 while the pulse is sent to the steering control motor 340, so as to offset the corresponding difference when the synchronizing wheel 334 rotates 90 degrees. Thus, the AGV wheels in this embodiment may be rotated in situ 90 degrees to ensure that the guide wheels 31 on the bottom of the housing 30 still engage the guide slots in the bottom after the turn.

When the AGV moves to a target location, such as a transport target location or a destination target location, the movement control module 302 sends a corresponding notification to the transport control module 303.

The conveyance control module 303 receives the identification and the target position of the conveyance target cargo transmitted from the task management module 301, and determines whether the current position is the conveyance target position or the destination target position based on the notification content when receiving the notification transmitted from the movement control module 302. And the electronic tag reader-writer 3052 outside the lower surface of the base 30 reads the identification of the current position to determine whether the identification is consistent with the target position in the carrying task, if not, a corresponding message is sent to the task management module 301, and the task management module 301 communicates with an upper computer to determine the problem. If the goods are matched, the electronic tag reader-writer 3051 arranged outside the upper surface of the base body 30 reads the electronic tag of the goods, and when the goods are matched with the target goods in the carrying task, the jacking motor 350 is controlled to work, and the jacking rods 32 are jacked up. When the jack 32 is raised to a predetermined position, the goods are pushed away from the original placement position. When the AGV reaches the destination target position, the same identification and confirmation are performed, and then the jacking motor is controlled to work, and the jacking rod 32 is lowered to release the goods to the target position.

In one embodiment, a weight sensor (not shown) is further disposed on the AGV, and when the push rod 32 pushes up the goods, the weight sensor can sense the weight of the goods, and the task management module 301 records the weight of the goods and uploads the weight to the upper computer.

When the conveying environment is unstable, in order to accurately position when the target position is stopped, the jacking motor 350 is controlled to control the positioning rod 39 to extend out from the seat body 30, and after the positioning is accurately performed, the jacking motor 350 is controlled to control the jacking rod 32 to ascend so as to convey the goods.

The AGV is also provided with various sensors 306 for sensing distance, position, such as laser sensors, vision sensors, infrared sensors, etc.

The AGV may also include a laser SLAM (synchronous positioning and mapping) or visual VSLAM system for assisting the AGV in the tasks of path planning, autonomous exploration, navigation, etc. while transporting the load.

The AGV has various compact structures, for example, a part of the structure of the steering assembly, a part of the structure of the driving assembly and the rollers are integrated together, and the lifting structure of the ejector rods and the positioning rods is shared, so that the thickness of the AGV is greatly reduced, and the occupation of a three-dimensional space is reduced.

And a walking control module of the stereoscopic warehouse management system sends a carrying task to the AGV. The transport task includes the identification of target goods, is the identification of female turnover case in this embodiment, female turnover case bottom is provided with electronic identity label. The transport task also includes a target location, such as a location where the parent container is located and a destination location to which the parent container is transported, which in this embodiment is a specific stock location unit. In this embodiment, an electronic tag is disposed on the bottom plate of each storage location unit, and the electronic tag records an identification, such as a serial number, of each storage location unit. The warehouse management system can also calculate the route that the AGV needs to travel, and the travel route is used as information of the task and sent to the AGV. The traveling route comprises more than one straight line segment, and two adjacent straight line segments are perpendicular to each other, so that the AGV can horizontally move in a crossing manner in the three-dimensional warehouse.

If the AGV receives the transport task without a walking route, the walking route can be calculated by itself. When the AGV determines the walking route, the AGV reaches the carrying target position according to the walking route, and the jacking mechanism is extended out to jack up the target goods. And then, according to the walking route, the jacking mechanism is retracted after the target cargo reaches the target position of the destination so as to release the target cargo.

In order to determine that the current position is a position in the transportation task, after the vehicle reaches the transportation target position and the destination target position according to the traveling route, whether the current position is the transportation target position and the destination target position is identified.

In order to ensure that the transported cargo is the cargo under task, after the transport target position is determined, it is identified whether the cargo on the transport target position is the target cargo.

When the transport environment is unstable, when the AGV reaches the target position, the positioning rod is adopted to perform forced positioning after accurate positioning, so that the working stability of the AGV is ensured.

The AGV provided by the invention has the advantages of small thickness, small occupied space and accurate operation, and can be well suitable for a novel stereoscopic warehouse. The device can also work normally in wagons, planes and ships which shake and bump, and can work in a linkage and cooperation manner in various flowing stereoscopic warehouses and fixed stereoscopic warehouses of the same specification.

In order to enable the object mover, such as an AGV in this embodiment, to accurately release the storage bin to the target storage location while the stereoscopic warehouse is in an unstable moving state, the control system further includes a positioning module, such as a sensor disposed on the bottom plate of each storage location unit, e.g., four positioners 160 in fig. 1. Under the normal driving state, the inside servo motor of AGV can be to AGV accurate positioning, but when stereoscopic warehouse is in unstable moving state, after fixing a position through servo motor, the rethread four locators 160 calibration AGV's position cooperates locating lever 39 for even the AGV still can accurately fix a position in preset position under the state of rocking, can place storing device on the exact position.

Lift control module 1622 is used to control lift drive mechanism 163 of the lift system. The lifting platform driving mechanism 163 adopts a servo system, and the lifting control module 1622 sends driving information to the servo system according to the lifting stroke, so as to drive the lifting platform to reach the preset position. Wherein, under normal condition, servo can accurately stop in preset position, in order to prevent because the unstable state of stereoscopic warehouse when removing leads to the position that the elevating platform reachd to deviate from former preset position, if the elevating platform has deviated former preset position, can lead to the butt joint state of elevating platform and storehouse position unit not good, lead to AGV walking difficulty, damage AGV even, on the support post, each layer sets up more than one position sensor with the position of storehouse position unit butt joint, thereby can make the elevating platform accurately stop in preset position.

Fig. 33 is a schematic flow chart of a stereoscopic warehouse goods storage method according to an embodiment of the present invention, in which goods are placed in storage devices, wherein the storage devices are divided into a parent container 2 and a child container 7 for convenience of description. Wherein the goods are packed in the closed sub-containers 7. The plurality of sub-containers 7 are placed in the main container 2 in order. The mother circulation box 2 is open at least at the top, as in the structure shown in fig. 33, or as in the structure in fig. 3A, 3B or 4A. The AGV3 transports the parent container 2 to the target library bit position in the volumetric library, the process shown in fig. 13B-13F. During the transportation process, if the stereoscopic warehouse is in an unstable moving state, the positioning 160 on the bottom plate is matched with the positioning rod 39 to accurately position the AGV3, and then the mother turnover box 2 is released to the supporting block of the target warehouse position.

When the AGV3 carries the parent container 2 to a storage location unit for storage, the identity binding relationship between the parent container 2 and the storage location unit thereof is established, and the binding relationship is sent to the goods management system 161. When the AGV3 moves the parent container 2 away from the currently stored storage location unit for storage, the id binding relationship between the parent container 2 and the storage location unit thereof is released, and the unbinding relationship is sent to the cargo management system 161. Therefore, the cargo management system 161 of the present invention records the correspondence relationship between each parent container 2 and the stock location unit and the variation thereof.

The AGV provided by the invention has small thickness and accurate operation, and can accurately and quickly move in a stereoscopic warehouse or among stereoscopic warehouses according to a planned route. When the goods are transported, the mother turnover box is jacked to the storage position unit through the jacking mechanism, so that excessive transportation space is not needed. Thereby allowing stereoscopic warehouse's the overwhelming majority space to be storing space, comparing in current warehouse, greatly improved space utilization.

The above embodiments are provided only for illustrating the present invention and not for limiting the present invention, and those skilled in the art can make various changes and modifications without departing from the scope of the present invention, and therefore, all equivalent technical solutions should fall within the scope of the present invention.

Claims

1. An automated guided handling apparatus comprising:

the base comprises a driving assembly, a steering assembly, a jacking assembly and an electric element inside;

a jacking mechanism, cooperating with the jacking assembly, configured to extend or retract a jacking rod from an upper surface of the seat body;

the traveling mechanism is arranged below the seat body and is matched with the driving assembly and the steering assembly; and

the guiding mechanism is arranged below the seat body and is configured to guide the traveling direction of the traveling mechanism.

2. The apparatus of claim 1, wherein the travel mechanism comprises more than one roller assembly.

3. The apparatus of claim 2, the roller assembly comprising at least:

one or more roller bodies; and

the roller wheel shaft is configured to be fixed with the center of the roller body.

4. The apparatus of claim 3, the drive assembly comprising:

a driving motor for outputting a walking driving force; and

the transmission mechanism comprises a driving wheel synchronizing wheel at the head end and a roller wheel shaft at the tail end; the output shaft of the driving motor transmits power to the driving synchronous wheel through the driving wheel, and the driving synchronous wheel transmits the power to the roller wheel shaft, so that the roller body is driven to rotate along the radial direction.

5. The apparatus of claim 4, the steering assembly comprising:

a steering motor for outputting steering power; and

the steering mechanism comprises a steering driving wheel, a steering synchronous wheel and a bogie which is integrally connected with the steering driving wheel, the steering synchronous wheel is coaxially fixed with the bogie and a wheel shaft of the driving synchronous wheel, and the bogie is fixed with the wheel shaft of the roller; the output shaft of the steering motor transmits power to the steering synchronizing wheel through the steering driving wheel, and the steering synchronizing wheel drives a driving synchronizing wheel shaft fixedly connected with the bogie and the roller wheel shaft to integrally rotate, so that the walking direction of the roller body is changed.

6. The apparatus of claim 4, further comprising a reversing mechanism between the end of the output shaft of the drive motor and the axle of the drive capstan for changing the direction of power transmission.

7. The apparatus of claim 5, further comprising a reversing mechanism between the end of the output shaft of the steering motor and the axle of the steering capstan for changing the direction of power transmission.

8. The device of claim 4, wherein the transmission mechanism further comprises a roller synchronizing wheel, and a wheel shaft for driving the synchronizing wheel is connected with the wheel shaft of the roller synchronizing wheel through a reversing mechanism; the driving synchronizing wheel transmits power to the roller synchronizing wheel, and then the roller synchronizing wheel transmits power to the roller wheel shaft.

9. The apparatus of claim 6 or 7 or 8, wherein the reversing mechanism is a cooperating bevel gear.

10. The apparatus of claim 1, the jacking assembly comprising:

the jacking motor is used for outputting jacking power;

the transmission mechanism comprises a jacking driving wheel and a jacking synchronous wheel; and

and the reversing mechanism is connected to the tail end of the wheel shaft of the jacking synchronous wheel and the head end of the jacking mechanism and is used for changing the jacking power direction.

11. The apparatus of claim 10, the jacking mechanism comprising:

the gear as the head end of the jacking mechanism is connected with the reversing mechanism;

the transmission rack is provided with a cross bar on the side surface; the transmission rack is meshed with the gear to drive the cross rod to move up and down along with the rotation of the gear;

the bottom end of the ejector rod is opposite to the cross rod, and the ejector rod is ejected out when the cross rod moves upwards along with the rotation of the gear; and

and the locking mechanism is connected with the ejector rod and locks the ejector rod when the ejector rod is ejected out to reach a preset position.

12. The apparatus of claim 11, further comprising a positioning rod having a top end opposite the cross rod, the positioning rod extending from the lower surface of the housing when the cross rod moves downward with the rotation of the gear.

13. The apparatus of claim 12, the positioning rods being integral with the cross-bar; or, the device also comprises a positioning rod resetting structure, and when the cross rod moves upwards along with the rotation of the gear and leaves the positioning rod, the cross rod resets the positioning rod.

14. The apparatus of claim 1, the guide mechanism comprising at least two sets of vertically oriented guide wheel assemblies comprising:

the guide wheel and the wheel carrier thereof are arranged in the groove at the bottom of the seat body; and

and the guide wheel controller is arranged in the groove and fixed with the wheel frame so as to control the guide wheel to be released or retracted from the groove.

15. The apparatus of claim 14, further comprising a positioning sensor disposed in a recess in the bottom of the housing; and sending a signal after the guide wheel is correctly put down into the guide groove of the driving surface.

16. The apparatus of claim 1, further comprising a control device disposed within the housing, comprising:

a task management module configured to receive a handling task including a target cargo and a target location;

the mobile control module controls the driving assembly and the steering assembly according to the received walking route or the walking route calculated according to the target position and the current position of the mobile control module, so that the walking mechanism walks and/or steers according to the planned route; and

and the carrying control module is used for controlling the jacking mechanism to lift and jack the goods after the target goods are determined, and controlling the jacking mechanism to retract to put down the goods after the target position of the destination is reached.

17. The apparatus of claim 16, wherein the control device further comprises electronic tag readers disposed outside the upper surface and outside the lower surface of the housing for identifying the target cargo and the location.

18. The device of claim 16, wherein the control device further comprises a forced positioning module for controlling the positioning rod to extend out from the lower surface of the base body for positioning when the device is unstable in operation and needs to confirm or accurately correct the position after reaching the target position.

19. The apparatus of claim 16, the control apparatus further comprising one or more sensors and/or laser SLAM or visual VSLAM systems for assisting the movement control module and the handling control module.

20. The device of claim 16, wherein the movement control module controls the steering assembly to rotate the traveling mechanism by 90 degrees when the steering is required according to the traveling route.

21. A method of operating an automated guided handling apparatus according to any one of claims 1 to 20, comprising:

22. The method of claim 21, further comprising: and after the vehicle reaches the carrying target position and the destination target position according to the traveling route, identifying whether the current position is the carrying target position and the destination target position.

23. The method of claim 22, further comprising: after the conveyance target position is determined, whether the cargo on the conveyance target position is the target cargo is identified.

24. The method according to claim 22 or 23, wherein the target cargo is located in a mother turnover box of the storage space of the storage location unit, and an electronic identity tag is arranged at the bottom of the mother turnover box; the automatic guiding and carrying device walks in the object moving space of the storage unit, an electronic identity tag is arranged on a bottom plate of the object moving space of the storage unit, and the automatic guiding and carrying device identifies by reading the electronic identity tag.

25. The method of claim 21, wherein the automated guided handling apparatus is forced to position using a positioning rod after the precise positioning when the handling environment is unstable and the automated guided handling apparatus reaches the target position.