CN114313724A

CN114313724A - AGV jacking positioning system is transported in storage

Info

Publication number: CN114313724A
Application number: CN202111411362.6A
Authority: CN
Inventors: 王硕; 李明; 梁嘉震
Original assignee: Beijing Institute of Specialized Machinery
Current assignee: Beijing Institute of Specialized Machinery
Priority date: 2021-11-25
Filing date: 2021-11-25
Publication date: 2022-04-12

Abstract

The invention relates to a warehouse transferring AGV jacking positioning system, which comprises an AGV trolley, a goods shelf and a station, wherein a plurality of flexible lifting devices are arranged on the AGV trolley, each flexible lifting device comprises a supporting component, an air bag and a cover shell, each supporting component comprises a base, a plurality of stand columns are fixed on each base, a bedplate is fixed on each stand column, the bottoms of the air bags are fixed on the bedplate, each cover shell is fixedly connected with the top of the air bag, a positioning table is arranged on the upper side of each cover shell, a limiting ring is fixed at the lower end of each cover shell, a first conical surface and a second conical surface are correspondingly arranged at the upper end and the lower end of the inner wall of each limiting ring, each bedplate is provided with a third conical surface matched with the first conical surface, a round platform matched with the second conical surface is arranged at the lower end of each stand column, a positioning hole matched with the positioning table is arranged on the lower side surface of a supporting plate of the goods shelf, positioning heads are arranged at the lower ends of supporting legs of the goods shelf, and the station comprises four positioning blocks arranged corresponding to the supporting legs, the positioning block is provided with a positioning groove matched with the positioning head. The device has the advantages of simple structure, convenient control, strong adaptability and high reliability.

Description

AGV jacking positioning system is transported in storage

Technical Field

The invention relates to a storage transfer system, in particular to a AGV jacking and positioning system for storage transfer.

Background

In the storage field of transporting, technical means such as magnetic stripe, vision are adopted to fix a position more to current AGV dolly to combine spiral elevating system to realize the butt joint of goods shelves and station, this mode has the problem that the structure is complicated, the operation degree of difficulty is big, positioning accuracy requires high in practical application, produces the side direction extrusion force because of positioning deviation between goods shelves and station easily, has influenced fail safe nature.

Disclosure of Invention

The invention aims to provide a AGV jacking positioning system for storage transfer, which has the advantages of simple structure, convenience in control, strong adaptability and high reliability, can effectively reduce the positioning precision requirement, and improves the working efficiency and the safety.

In order to solve the problems in the prior art, the invention provides a storage transfer AGV jacking positioning system which comprises an AGV trolley, a goods shelf and stations, wherein a plurality of flexible lifting devices are arranged on the AGV trolley, each flexible lifting device comprises a supporting component, an air bag and a housing, each supporting component comprises a base, a plurality of stand columns distributed along the circumferential direction are fixed on each base, a bedplate is fixed on each stand column, the bottom of each air bag is fixed on each bedplate, each air bag, each bedplate and the stand columns are covered by each housing, each housing is fixedly connected with the top of each air bag, a positioning table is arranged on the upper side of each housing, a limiting ring is fixed at the lower end of each housing, a first conical surface and a second conical surface are correspondingly arranged at the upper end and the lower end of the inner wall of each limiting ring, each bedplate is provided with a third conical surface matched with the first conical surface, and a round platform matched with the second conical surface is arranged at the lower end of each stand column; the goods shelf comprises a supporting plate and four supporting legs which are fixedly connected, a positioning hole matched with the positioning table is formed in the lower side surface of the supporting plate, and a positioning head is arranged at the lower end of each supporting leg; the station includes four locating pieces that correspond the setting with the landing leg, and the locating piece is equipped with the constant head tank with locating head complex.

Further, the AGV jacking positioning system for storage transfer is characterized in that when the flexible lifting device is lifted in place, the first conical surface is attached to the third conical surface, and when the flexible lifting device is lifted in place, the second conical surface is attached to the circular truncated cone.

Further, the AGV jacking and positioning system for storage transfer is characterized in that a distance measuring sensor is fixed on the lower side face of the bedplate, and a distance measuring target plate matched with the distance measuring sensor is fixed on the limiting ring.

Further, the AGV jacking and positioning system for storage transfer comprises a housing and a cover plate welded and fixed to the upper end of the housing, and the positioning tables are integrally arranged in the middle of the upper side face of the cover plate.

Further, the AGV jacking positioning system for storage transfer is characterized in that the limiting ring is fixed to the lower end of the cylinder of the housing through screws distributed along the circumferential direction, and the ranging target board is fixed to the limiting ring through screws.

Further, the AGV jacking and positioning system for storage transfer is characterized in that the base is provided with lug plates distributed along the circumferential direction, fixing holes are formed in the lug plates, and the upper end and the lower end of each upright column are correspondingly welded and fixed with the bedplate and the base.

Further, the AGV jacking and positioning system for storage transfer is characterized in that the bedplate is fixed to the bottom of the air bag through screws, and the cover plate is fixed to the top of the air bag through screws.

Further, the AGV jacking and positioning system for storage transfer is characterized in that a lower groove is formed in the upper side face of the base, and an upper groove corresponding to the lower groove is formed in the limiting ring; and the ranging target board is provided with a through hole for the upright post to pass through.

Furthermore, the flexible lifting devices are six, four flexible lifting devices are symmetrically distributed in the front-back direction, and the other two flexible lifting devices are symmetrically distributed in the left-right direction; the stand is equipped with four, and four stands are central symmetry and distribute.

Compared with the prior art, the AGV jacking positioning system for storage transfer has the following advantages: according to the invention, by arranging an AGV trolley, a goods shelf and stations, a plurality of flexible lifting devices are arranged on the AGV trolley, the flexible lifting devices are enabled to be provided with a supporting component, an airbag and a cover shell, the supporting component is enabled to be provided with a base, a plurality of stand columns distributed along the circumferential direction are fixed on the base, a bedplate is fixed on the plurality of stand columns, the bottom of the airbag is fixed on the bedplate, the airbag, the bedplate and the plurality of stand columns are covered by the cover shell, the cover shell is fixedly connected with the top of the airbag, a positioning platform is arranged on the upper side of the cover shell, a limiting ring is fixed at the lower end of the cover shell, a first conical surface and a second conical surface are correspondingly arranged at the upper end and the lower end of the inner wall of the limiting ring, a third conical surface matched with the first conical surface is arranged on the bedplate, and a circular truncated cone matched with the second conical surface is arranged at the lower end of the stand column; the goods shelf is provided with a supporting plate and four supporting legs which are fixedly connected, the lower side surface of the supporting plate is provided with a positioning hole matched with the positioning table, and the lower ends of the supporting legs are provided with positioning heads; the station is provided with four positioning blocks corresponding to the supporting legs, and the positioning blocks are provided with positioning grooves matched with the positioning heads. Therefore, the AGV jacking and positioning system for warehousing transfer is simple in structure, convenient to control, high in adaptability and reliability. When goods are extracted, the AGV trolley moves to a station, the air bag is inflated after the AGV trolley is in place, the positioning table can enter the positioning holes of the goods shelf and jack up the goods shelf and the goods step by step in the lifting process of the housing, the goods shelf can be separated from the station after being jacked in place, and the goods shelf and the goods can be transferred to a destination through the AGV trolley; when the goods are stored, the AGV trolley carries the goods shelf and the goods move to the station, the air bag is deflated after the AGV trolley is in place, the goods shelf and the goods can fall onto the station through the matching of the positioning head and the positioning groove in the descending process of the housing, the positioning table can be separated from the goods shelf after the AGV trolley is in place, and the AGV trolley can be driven away at the moment. According to the invention, the flexible lifting device is provided with the air bag, so that in the jacking process of extracting the goods, the positioning table can be accurately positioned on one hand by utilizing the flexible deformation capacity of the air bag, and on the other hand, the lateral extrusion force generated between the goods shelf and the station can be avoided; in the landing process of storing goods, the positioning head can be accurately positioned by utilizing the flexible deformation capacity of the air bag, and the lateral extrusion force generated between the goods shelf and the station can be avoided, so that the positioning precision requirement is reduced, and the safety and reliability are improved. According to the invention, the first conical surface and the third conical surface which are matched with each other are arranged, the first conical surface and the third conical surface are attached after the cover is jacked in place, the cover and the bedplate can be relatively fixed under the jacking action of the air bag, the swinging of the AGV trolley during transferring goods is effectively avoided, and the stability and the safety reliability of the structure are enhanced; through setting up complex second conical surface and round platform, the housing descends and lets the conical surface laminating of second conical surface and a plurality of round platforms after target in place, can make housing and a plurality of round platforms and base keep relatively fixed under the action of gravity, has effectively avoided AGV dolly to produce when empty load and has rocked, has strengthened the stability and the fail safe nature of structure equally.

The following describes a storage transfer AGV jacking positioning system according to an embodiment of the present invention in detail with reference to the accompanying drawings.

Drawings

FIG. 1 is a schematic diagram of a AGV jacking positioning system for storage transfer according to the present invention;

FIG. 2 is a schematic diagram of an AGV car in the AGV jacking positioning system for storage transfer according to the present invention;

FIG. 3 is a schematic diagram of a rack in a AGV jacking positioning system for storage transfer according to the present invention;

FIG. 4 is a front view of a flexible lifting device in a AGV jacking positioning system for storage transfer according to the present invention

FIG. 5 is a view taken along line A-A of FIG. 4;

FIG. 6 is a first perspective view of a flexible lifting device in the AGV jacking positioning system for storage transfer according to the present invention;

FIG. 7 is a second perspective view of a flexible lifting device in the AGV jacking positioning system for storage transfer according to the present invention;

FIG. 8 is a diagram illustrating a state of a flexible lifting device in a AGV jacking and positioning system for storage transfer according to the present invention;

FIG. 9 is a view taken along line B-B of FIG. 8;

FIG. 10 is a diagram of a flexible lift device in a AGV jacking positioning system for storage transfer according to the present invention in a lowered position;

fig. 11 is a view from direction C-C in fig. 10.

Detailed Description

First, it should be noted that, the directional terms such as up, down, left, right, front, rear, etc. described in the present invention are only described with reference to the accompanying drawings for easy understanding, and do not limit the technical solution and the claimed scope of the present invention.

Fig. 1 to 11 show an embodiment of a system for lifting and positioning an AGV for storage transfer according to the present invention, which includes an AGV cart 1, a rack 2, and stations 3. Six flexible lifting devices 4 are mounted on the AGV 1, the flexible lifting devices 4 are provided with a support assembly 41, an air bag 42 and a housing 43, the support assembly 41 is provided with a base 411, four columns 412 distributed along the circumferential direction are fixed on the base 411, and a bedplate 413 is fixed on the four columns 412. The bottom of the airbag 42 is fixed on a bedplate 413, a housing 43 covers the airbag 42, the bedplate 413 and a plurality of columns 412, the housing 43 is fixedly connected with the top of the airbag 42, a positioning platform 431 is arranged on the upper side of the housing 43, a limiting ring 44 is fixed on the lower end of the housing 43, a first conical surface 441 and a second conical surface 442 are correspondingly arranged on the upper end and the lower end of the inner wall of the limiting ring 44, a third conical surface 4131 matched with the first conical surface 441 is arranged on the bedplate 413, and a circular truncated cone 4121 matched with the second conical surface 442 is arranged on the lower end of the column 412. The shelf 2 is provided with a support plate 21 and four legs 22 fixedly connected to each other, a positioning hole 211 fitted to a positioning table 431 is provided on the lower surface of the support plate 21, and a positioning head 221 is provided at the lower end of the leg 22. The station 3 is provided with four positioning blocks 31 corresponding to the supporting legs 22, and the positioning grooves 32 matched with the positioning heads 221 are arranged on the positioning blocks 31.

Through the structure, the AGV jacking positioning system for warehousing transfer is simple in structure, convenient to control, high in adaptability and reliability. When goods are extracted, the AGV trolley 1 is enabled to run to the station 3, the air bag 42 is inflated after the AGV trolley 1 is in place, the positioning table 431 can enter the positioning holes 211 of the goods shelf 2 and jack up the goods shelf 2 and the goods step by step in the lifting process of the housing 43, the goods shelf 2 can be separated from the station 3 after the goods shelf is jacked in place, and the goods shelf 2 and the goods can be transferred to a destination through the AGV trolley 1; when goods are stored, the AGV trolley 1 carries the goods shelf 2 and the goods move to the station 3, the air bag 42 is deflated after the AGV trolley 1 is in place, the goods shelf 2 and the goods fall onto the station 3 through the matching of the positioning head 221 and the positioning groove 32 in the falling process of the housing 43, the positioning table 431 can be separated from the goods shelf 2 after the goods shelf 2 and the goods fall in place, and at the moment, the AGV trolley 1 can be driven away. According to the invention, the flexible lifting device 4 is provided with the air bag 42, in the jacking process of extracting the goods, the positioning table 431 can be accurately positioned on one hand by utilizing the flexible deformation capacity of the air bag 42, and on the other hand, the lateral extrusion force generated between the goods shelf 2 and the working position 3 can be avoided; in the falling process of stored goods, the positioning head 221 can be accurately positioned by utilizing the flexible deformation capacity of the air bag 42, and the lateral extrusion force generated between the goods shelf 2 and the working position 3 can be avoided, so that the positioning precision requirement is reduced, and the safety and reliability are improved. According to the AGV, the first conical surface 441 and the third conical surface 4131 which are matched with each other are arranged, the first conical surface 441 and the third conical surface 4131 are attached after the housing 43 is jacked in place, the housing 43 and the bedplate 413 can be kept relatively fixed under the action of the upper jacking of the air bag 42, the phenomenon that the AGV trolley shakes during transferring goods is effectively avoided, and the stability and the safety reliability of the structure are enhanced; through the arrangement of the second conical surface 442 and the circular truncated cone 4121 which are matched with each other, the housing 43 is descended in place, then the second conical surface 442 and the conical surfaces of the circular truncated cones 4121 are attached to each other, the housing 43, the circular truncated cones 412 and the base 411 can be kept relatively fixed under the action of gravity, the AGV trolley is effectively prevented from shaking when no load exists, and the stability and the safety reliability of the structure are enhanced. In practical applications, to improve the stability of the structure and support, four of the six flexible lifting devices are arranged symmetrically in the front-back direction, the other two flexible lifting devices are arranged symmetrically in the left-right direction, and the four upright posts 412 are arranged symmetrically in the center. However, it should be noted that the flexible lifting device is not limited to six, and may be provided in other numbers of three or more, and the upright posts 412 are not limited to four, and may also be provided in three or more.

As an optimized solution, in order to improve the accuracy of distance measurement and control, the distance measurement sensor 45 is fixed on the lower side surface of the platen 413, and the distance measurement target plate 46 matched with the distance measurement sensor 45 is fixed on the limit ring 44 in the present embodiment. In order to avoid interference and influence on the action, the distance measuring target plate 46 is provided with a through hole for the upright column 412 to pass through. As a specific embodiment, the present invention provides the housing 43 with a cylinder 432 and a cover 433 welded and fixed on the upper end of the cylinder 432, wherein the positioning table 431 is integrally provided on the middle of the upper side of the cover 433.

In order to improve the convenience of assembly and disassembly, the invention fixedly connects the bedplate 413 with the bottom of the air bag 42 through screws, fixedly connects the cover plate 433 with the top of the air bag 42 through screws, fixes the limiting ring 44 at the lower end of the cylinder 432 of the housing 43 through screws distributed along the circumferential direction, and fixes the ranging target plate 46 on the limiting ring 44 through screws. It should be noted that, in practical application, the top and the bottom of the air bag 42 are respectively provided with a connecting plate, so that the screw fixation is performed through the connecting plates; the air bag 42, the stop collar 44 and the ranging target plate 46 are not limited to screw connections, and other fastening means may be used.

In practical application, in order to improve the convenience of installation and fixation, the base 411 is provided with the lug plates 4111 distributed along the circumferential direction, and the lug plates 4111 are provided with fixing holes; and the upper and lower ends of the upright 412 are welded and fixed with the bedplate 413 and the base 411 correspondingly to improve the structural stability. For the convenience of wiring, the present invention further provides a lower groove 4112 on the upper side of the base 411, and an upper groove 443 corresponding to the lower groove 4112 is provided on the limiting ring 44.

The above examples are only for describing the preferred embodiments of the present invention, and do not limit the scope of the claimed invention, and various modifications made by those skilled in the art according to the technical solutions of the present invention should fall within the scope of the invention defined by the claims without departing from the design concept of the present invention.

Claims

1. A storage and transportation AGV jacking positioning system comprises an AGV trolley (1), a goods shelf (2) and stations (3), and is characterized in that a plurality of flexible lifting devices (4) are mounted on the AGV trolley (1), each flexible lifting device (4) comprises a supporting component (41), an air bag (42) and a cover (43), each supporting component (41) comprises a base (411), a plurality of stand columns (412) distributed along the circumferential direction are fixed on each base (411), a table plate (413) is fixed on each stand column (412), the bottom of each air bag (42) is fixed on each table plate (413), each cover (43) covers each air bag (42), each table plate (413) and each stand column (412), each cover (43) is fixedly connected with the top of each air bag (42), a positioning table (431) is arranged on the upper side of each cover (43), a limiting ring (44) is fixed at the lower end of each cover (43), a first conical surface (441) and a second conical surface (442) are correspondingly arranged at the upper end and the lower end of the inner wall of each limiting ring (44), the bedplate (413) is provided with a third conical surface (4131) matched with the first conical surface (441), and the lower end of the upright column (412) is provided with a round platform (4121) matched with the second conical surface (442); the goods shelf (2) comprises a support plate (21) and four supporting legs (22) which are fixedly connected, a positioning hole (211) matched with the positioning table (431) is formed in the lower side surface of the support plate (21), and a positioning head (221) is arranged at the lower end of each supporting leg (22); the station (3) comprises four positioning blocks (31) which are arranged corresponding to the supporting legs (22), and the positioning blocks (31) are provided with positioning grooves (32) matched with the positioning heads (221).

2. The AGV jacking positioning system of claim 1, wherein the first tapered surface (441) is attached to the third tapered surface (4131) when the flexible lifting device (4) is lifted to a desired position, and the second tapered surface (442) is attached to the circular table (4121) when the flexible lifting device (4) is lowered to a desired position.

3. AGV jacking positioning system according to claim 2, characterized in that a distance measuring sensor (45) is fixed to the lower side of the platform (413), and a distance measuring target plate (46) cooperating with the distance measuring sensor (45) is fixed to the limiting ring (44).

4. The AGV jacking positioning system of claim 3, wherein the housing (43) comprises a cylinder (432) and a cover plate (433) welded to the upper end of the cylinder (432), and the positioning table (431) is integrally arranged in the middle of the upper side of the cover plate (433).

5. AGV jacking positioning system according to claim 4, wherein the position limiting ring (44) is fixed to the lower end of the cylinder (432) of the casing (43) by means of screws distributed along the circumference, and the distance measuring target plate (46) is fixed to the position limiting ring (44) by means of screws.

6. AGV jacking positioning system according to claim 4, characterized in that the base (411) is provided with lugs (4111) distributed along the circumference, the lugs (4111) are provided with fixing holes, and the upper and lower ends of the upright column (412) are welded to the bedplate (413) and the base (411).

7. AGV jacking positioning system according to claim 4, characterized in that the platen (413) is fixed to the bottom of the air bag (42) by screws and the cover plate (433) is fixed to the top of the air bag (42) by screws.

8. The AGV jacking positioning system of claim 4, wherein the base (411) is provided with a lower groove (4112) on the upper side, and the limiting ring (44) is provided with an upper groove (443) corresponding to the lower groove (4112); the ranging target board (46) is provided with a through hole for the upright post (412) to pass through.

9. The AGV jacking positioning system for storage transfer according to claim 4, wherein six flexible lifting devices (4) are provided, four flexible lifting devices (4) are symmetrically distributed in front and back, and the other two flexible lifting devices (4) are symmetrically distributed in left and right; the number of the upright columns (412) is four, and the four upright columns (412) are distributed in a central symmetry mode.