CN114655618A

CN114655618A - Alignment mechanism and carrying system for vehicle transportation goods

Info

Publication number: CN114655618A
Application number: CN202210395194.4A
Authority: CN
Inventors: 张金虎
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2022-04-14
Filing date: 2022-04-14
Publication date: 2022-06-24

Abstract

The invention relates to the technical field of cargo transportation, in particular to an alignment mechanism and a carrying system for transporting cargos by vehicles, wherein the alignment mechanism comprises a frame, a support frame, a first alignment assembly and a second alignment assembly, wherein the frame is provided with a discharge channel; the support frame is arranged in the unloading channel, and the vehicle can unload the cargo bearing piece onto the support frame through the unloading channel; the first alignment assembly is arranged on the frame and is used for enabling the goods shelf to move to a first preset position along a direction perpendicular to the extension direction of the discharge channel; the second alignment assembly is arranged on the frame and/or the supporting frame, and the second alignment assembly is used for enabling the goods shelf to move to a second preset position along the direction parallel to the extension direction of the discharging channel. The alignment mechanism provided by the invention can align the goods transported by vehicles, so that the goods can be accurately positioned, and the requirements of a manipulator, a forklift, a stacker and the like on the goods taking and placing positions are further met.

Description

Alignment mechanism and carrying system for vehicle transportation goods

Technical Field

The embodiment of the invention relates to the technical field of cargo transportation, in particular to an alignment mechanism and a carrying system for vehicle transportation of cargos.

Background

An application scenario of an existing AGV (Automated Guided Vehicle) is generally that a rack is lifted and placed on the ground or a conveyor, or after the AGV travels to a certain position, the AGV is butted with a truss manipulator, a forklift, a stacker, and the like, and then goods are taken away or placed by the AGV. Generally, the requirement on the placement position of a scene placed on the ground or a conveyor is not high, namely, the deviation is within the AGV traveling deviation (the AGV traveling deviation of two-dimensional code navigation is +/-10 mm); and the requirement on the position when butt-joint with a truss manipulator, a forklift, a stacker or the like is higher, the problem of inaccurate parking position and uneven ground caused by the walking precision of the AGV at the moment can influence the goods taking and placing of the truss manipulator, the forklift, the stacker or the like, for example, the stacker can be placed on a three-dimensional goods shelf after taking the goods from the AGV, the inaccurate position can cause the goods taking and placing and the next taking and placing to collide, and the goods fall, even impact the three-dimensional goods shelf and other serious safety accidents are caused.

Therefore, there is a need for an alignment mechanism for transporting goods by vehicles to solve the above technical problems.

Disclosure of Invention

The embodiment of the invention aims to provide an alignment mechanism and a carrying system for vehicle transportation of goods, which can accurately position a goods bearing piece bearing the goods and meet the requirements of a manipulator, a forklift, a stacker and the like on goods taking and placing positions.

To achieve the purpose, the embodiment of the invention adopts the following technical scheme:

an alignment mechanism for a vehicle transporting cargo comprising:

a frame having a discharge channel;

the support frame is arranged in the unloading channel, and a vehicle can unload a cargo bearing piece for bearing cargos onto the support frame through the unloading channel;

a first alignment assembly disposed on the frame, the first alignment assembly configured to move the cargo carrier to a first predetermined position along a direction perpendicular to the extension of the discharge channel;

and the second alignment assembly is arranged on the frame and/or the supporting frame and is used for enabling the cargo bearing piece to move to a second preset position along the direction parallel to the extension direction of the unloading channel.

As a preferred technical scheme of the alignment mechanism for transporting cargos by vehicles, a movable supporting component is arranged on the supporting frame, and the movable supporting component is used for bearing the cargo bearing piece and can support the cargo bearing piece to move and align.

As a preferred technical solution of the alignment mechanism for transporting goods by vehicles, the first alignment assembly includes two sets of first telescopic mechanisms, the two sets of first telescopic mechanisms are respectively disposed on two opposite sides of the support frame along a direction perpendicular to the extension direction of the discharge passage, and the output ends of the first telescopic mechanisms are disposed toward the support frame.

As a preferred technical scheme of the aligning mechanism for the vehicle to transport goods, the output end of the first telescopic mechanism is provided with a first rolling piece.

As a preferred technical solution of the aligning mechanism for transporting the cargo by the vehicle, the second aligning assembly includes a set of second telescopic mechanisms and a set of stop mechanisms, the second telescopic mechanisms are arranged at intervals along a direction parallel to the extension direction of the unloading channel, the second telescopic mechanisms are used for moving the cargo carrying pieces to the direction close to the stop mechanisms, and the stop mechanisms are used for stopping the cargo carrying pieces.

As a preferred technical solution of the alignment mechanism for transporting cargoes by vehicles, the second telescopic mechanism is disposed on the frame, an output end of the second telescopic mechanism is hinged with a swing rod, when the second telescopic mechanism extends out, the second telescopic mechanism can drive the cargo carrying member to move towards a direction close to the stopping mechanism through the swing rod, and when the second telescopic mechanism retracts, the swing rod can avoid the cargo carrying member entering and exiting the unloading channel.

As a preferred technical scheme of the aligning mechanism for the vehicle to transport goods, the stop mechanism is arranged on the support frame and comprises a stop seat arranged on the support frame and a stop block arranged on the stop seat.

As a preferred technical solution of the aligning mechanism for transporting the cargo by the vehicle, a second proximity sensor is arranged on the stop seat, and the second proximity sensor is used for detecting whether the cargo carrying member abuts against the stop block.

As a preferred technical solution of the aligning mechanism for transporting goods by vehicles, the goods carrying member includes a carrying platform and a plurality of supporting legs supported at the lower end of the carrying platform, and when a vehicle carries the goods carrying member and enters the unloading passage, the plurality of supporting legs are respectively disposed at two sides of the supporting frame.

A handling system comprising a vehicle and an alignment mechanism for vehicle transport of cargo as described in any one of the above aspects, the vehicle being able to drive into the discharge aisle and discharge a transported cargo carrier onto the support frame.

The embodiment of the invention has the following beneficial effects:

the embodiment of the invention provides an alignment mechanism for transporting goods by a vehicle, which comprises a frame, a support frame, a first alignment assembly and a second alignment assembly, wherein when the vehicle transports a goods bearing piece and goods placed on the goods bearing piece, the vehicle lifts the goods bearing piece and the goods into a discharge channel according to guidance, and performs a falling action to discharge a goods shelf onto the support frame, then the goods bearing piece is moved to a first preset position along a direction perpendicular to the extension direction of the discharge channel by the first alignment assembly, and then the goods bearing piece is moved to a second preset position, namely an alignment position, along a direction parallel to the extension direction of the discharge channel by the second alignment assembly, so that the alignment of the goods bearing piece and the goods is completed, and at the moment, the goods on the goods bearing piece can be taken away by a stacker or a mechanical arm and the like and placed on a three-dimensional goods shelf. The alignment mechanism provided by the embodiment of the invention can align the goods transported by vehicles, so that the goods can be accurately positioned, and the requirements of a manipulator, a forklift, a stacker and the like on the goods taking and placing positions are further met.

Drawings

FIG. 1 is a schematic illustration of a vehicle according to an embodiment of the present invention transporting a load carrier and cargo to a discharge passage of an alignment mechanism;

fig. 2 is a schematic view of a load carrier and load according to an embodiment of the present invention;

fig. 3 is a schematic configuration diagram of a vehicle according to an embodiment of the present invention.

FIG. 4 is a schematic structural diagram of an alignment mechanism for transporting goods by a vehicle according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of the structure of a framework involved in an embodiment of the present invention;

FIG. 6 is a schematic structural view of a mobile support assembly in accordance with an embodiment of the present invention;

fig. 7 is a schematic configuration diagram of a first telescoping mechanism according to an embodiment of the present invention;

fig. 8 is a schematic structural view of a second telescoping mechanism and a swing link according to an embodiment of the present invention (the second telescoping mechanism is in a retracted state);

fig. 9 is a schematic structural view of a second telescoping mechanism and a swing link according to an embodiment of the present invention (the second telescoping mechanism is in an extended state);

fig. 10 is a schematic structural view of a stopper mechanism according to an embodiment of the present invention.

In the figure:

100. an alignment mechanism; 10a, a frame; 10b, a support frame; 11. a vehicle tunnel; 12. a leg channel; 13. a first mounting plate; 14. a second mounting plate; 15. a third mounting plate; 16. a fourth mounting plate; 21. a first telescoping mechanism; 22. a first rolling member; 31. a second telescoping mechanism; 32. a telescoping mechanism mounting base; 33. a swing rod; 34. a swing rod mounting seat; 35. a second rolling member; 40. a stopper mechanism; 41. a stop seat; 42. a stopper; 43. a second proximity sensor; 51. a fixed seat; 52. a universal wheel; 53. a first proximity sensor;

200. a cargo carrier; 201. a support platform; 202. a support leg;

300. goods;

400. a vehicle.

Detailed Description

The technical scheme of the invention is further explained by combining the attached drawings and the embodiment. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the features relevant to the present invention are shown in the drawings.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

As shown in fig. 1 to 10, an alignment mechanism for transporting goods by vehicles according to an embodiment of the present invention includes a frame 10a, a support frame 10b, a first alignment assembly and a second alignment assembly, wherein the frame 10a has a discharge passage; the support frame 10b is arranged in the unloading channel, and the vehicle 400 can unload the cargo carrier 200 for carrying cargo onto the support frame 10b through the unloading channel; the first alignment assembly is disposed on the frame 10a, and is configured to move the cargo carrying member 200 to a first predetermined position along a first direction, which is a direction perpendicular to the extension direction of the unloading channel; the second alignment assembly is disposed on the frame 10a and/or the supporting frame 10b, and the second alignment assembly is configured to move the cargo carrier 200 to a second predetermined position along a second direction, which is a direction parallel to the extension direction of the unloading channel.

When the vehicle 400 transports the cargo carriers 200 and the cargo 300 placed on the cargo carriers 200, the vehicle 400 lifts the cargo carriers 200 and the cargo 300 into the unloading aisle according to the guidance, and performs a falling motion to unload the cargo carriers 200 onto the frame 10a, and then the first aligning assembly moves the cargo carriers 200 to a first predetermined position along a first direction, and then the second aligning assembly moves the cargo carriers 200 to a second predetermined position, i.e., an aligning position, along a second direction, thereby completing the alignment of the cargo carriers 200 and the cargo 300, and at this time, the stacker or the robot arm, etc. can take the cargo 300 on the cargo carriers 200 away and place on the shelf. Through aligning goods 300, can pinpoint goods 300 to satisfy the requirement to getting and putting the goods position such as manipulator, fork truck, or stacker. It should be noted that the load bearing members 200 may be shelves, pallets, etc., and of course, the load 300 itself may be directly transported and aligned when the load 300 is not to be carried by the load bearing members 200. The Vehicle 400 may be an AGV (Automated Guided Vehicle) or an RGV (Rail Guided Vehicle), etc.

Referring to fig. 2 and 3, in the present embodiment, the cargo carrier 200 is a shelf, the cargo carrier 200 includes a supporting platform 201 and a leg 202, the cargo 300 is placed on the upper end of the supporting platform 201, and the vehicle 400 lifts the cargo carrier 200 from the lower end of the supporting platform 201 to the ground of the leg 202. Referring to fig. 4 and 5, the support frame 10b divides the discharge passage into a vehicle passage 11 located inside the support frame 10b and a leg passage 12 located between the support frame 10b and the frame 10a, so that when the vehicle 400 lifts the cargo carrier 200 and the cargo 300 enters the discharge passage, the vehicle 400 enters the vehicle passage 11, and simultaneously the legs 202 of the cargo carrier 200 enter the leg passage 12, so that the support platform 201 can be supported on the support frame 10b when the vehicle 400 performs a falling motion.

In this embodiment, the supporting frame 10b is provided with a movable supporting component, and the movable supporting component is used for receiving the cargo carrying component 200 and supporting the cargo carrying component 200 to move and align. Through setting up the removal supporting component, can make cargo carrying thing 200's removal alignment more smooth and easy. Specifically, with continuing reference to fig. 4 and 5 and with reference to fig. 6, the movable supporting assembly includes a plurality of fixing seats 51 and a plurality of universal wheels 52, the plurality of fourth mounting plates 16 are disposed on the supporting frame 10b, the plurality of fixing seats 51 are fixed to the plurality of fourth mounting plates 16 in a one-to-one correspondence manner, the plurality of universal wheels 52 are disposed on the plurality of fixing seats 51 in a one-to-one correspondence manner, and the universal wheels 52 are used for supporting the cargo carrier 200. By using the universal wheels 52 to support the cargo carrying member 200, the cargo carrying member 200 can move in any direction, and the movement alignment of the cargo carrying member 200 is facilitated. Preferably, at least two of the fixed seats 51 are provided with first proximity sensors 53, and the first proximity sensors 53 are used for detecting whether the cargo carrier 200 is placed on the universal wheels 52. In this embodiment, the number of the fixing seats 51 and the universal wheels 52 is four, the connecting line of the four fixing seats 51 is rectangular, and the first proximity sensors 53 are disposed on the two fixing seats 51 distributed diagonally, which is only exemplary and not limited to this embodiment.

In this embodiment, with continuing reference to fig. 4 and 5 and with reference to fig. 7, the first alignment assembly includes two sets of first telescopic mechanisms 21, the frame 10a is provided with a plurality of first mounting plates 13, the two sets of first telescopic mechanisms 21 are correspondingly disposed on the plurality of first mounting plates 13, the two sets of first telescopic mechanisms 21 are respectively disposed on two sides of the discharge channel along the first direction, and output ends of the first telescopic mechanisms 21 face the discharge channel. The present embodiment shows a case where each set includes two first telescoping mechanisms 21, but is not limited to the present embodiment. The output end of the first telescopic mechanism 21 can be abutted against the side surface of the supporting platform 201 of the cargo carrying member 200, so that the first telescopic mechanism 21 can push the cargo carrying member 200 to move along the first direction, and the cargo carrying member 200 can reach a first preset position along the first direction. The first telescoping mechanism 21 may be an air cylinder, an electric cylinder, a hydraulic cylinder, or the like. Preferably, the output end of the first telescopic mechanism 21 is provided with a first rolling member 22, and by providing the first rolling member 22, friction of the second alignment assembly when driving the cargo carrying member 200 to move along the second direction can be reduced, so that the cargo carrying member 200 can smoothly move along the second direction. The first rolling member 22 may be a roller, a ball, a roller, or the like.

With continued reference to fig. 4 and 5 in conjunction with fig. 8 and 9, in this embodiment, the second alignment assembly includes a set of second telescoping mechanisms 31 and a set of stop mechanisms 40, which is illustrated by way of example in the case of two second telescoping mechanism cylinders 31 in one set and two stop mechanisms 40 in one set, however, the present embodiment is not limited thereto, a set of second telescoping mechanisms 31 and a set of stopping mechanisms 40 are disposed at intervals along the second direction, a second mounting plate 14 is disposed on the frame 10a, a third mounting plate 15 is disposed on the frame a or the supporting frame b, the second telescoping mechanisms 31 are disposed on the second mounting plate 14 through the telescoping mechanism mounting seats 32, the stopping mechanisms 40 are disposed on the third mounting plate 15, the output end of the second telescoping mechanisms 31 is hinged to one end of the swing link 33, the middle portion of the swing link 33 is hinged to the swing link mounting seats 34, and the swing link mounting seats 34 are disposed on the second mounting plate 14. When the second telescopic mechanism 31 is extended, referring to fig. 9, the second telescopic mechanism 31 can drive the cargo carrier 200 to move in the second direction toward the direction approaching the stopping mechanism 40 through the swing link 33; when the second telescopic mechanism 31 is retracted, referring to fig. 8, the swing link 33 can avoid the cargo carrying elements 200 from entering and exiting the discharge passage, and the stop mechanism 40 is used for limiting the movement of the cargo carrying elements 200 in the second direction. The second telescoping mechanism 31 may be an air cylinder, an electric cylinder, a hydraulic cylinder, or the like. Preferably, the end of the swing link 33 away from the second telescopic mechanism 31 is provided with a second rolling member 35, and by providing the second rolling member 35, hard friction between the swing link 33 and the cargo carrier 200 when pushing the two can be avoided. The second rolling member 35 may be a roller, a ball, a roller, or the like.

In the present embodiment, referring to fig. 10, the stop mechanism 40 comprises a stop seat 41 and a stop 42 arranged on the stop seat 41, wherein the stop 42 is used for stopping the cargo carrier 200. Preferably, the stops 42 are flexible stops to avoid hard impacts with the load carrier 200. Preferably, the stop mechanism 40 further comprises a second proximity sensor 43 arranged on the stop seat 41, the second proximity sensor 43 being adapted to detect whether the load carrier 200 is stopped against the stop mechanism 40.

The alignment mechanism for the AGV transportation goods shelf provided by the embodiment of the invention has the following working principle:

the vehicle 400 lifts the cargo carrier 200 and the cargo 300 into the unloading passage according to the guidance, and the second alignment mechanism 31 is in the retracted state, and the vehicle 400 performs a falling action after entering the unloading passage, unloads the cargo carrier 200 and the cargo 300 onto the movable support assembly, and then the vehicle 400 is driven out of the unloading passage;

after the first proximity sensor 53 detects that the cargo carrier 200 is in place, the control module controls the first telescoping mechanism 21 to extend, push the shelf 200 to a first preset position (generally, a middle position) along a first direction, and control the first telescoping mechanism 21 to maintain pressure;

the control module controls the second telescoping mechanism 31 to extend, the swing link 33 pushes the cargo carrying member 200 to move in the second direction toward the direction close to the stopping mechanism 40, and when the second proximity sensor 43 detects that the cargo carrying member 200 abuts against the stopper 42, the control module controls the valve of the second telescoping mechanism 31 to close, and at this time, the cargo carrying member 200 moves in the second direction to a second preset position, namely, an alignment position.

The embodiment of the invention also provides a carrying system, which comprises a vehicle 400 and the aligning mechanism 100 for transporting goods by the vehicle as described in the above scheme, wherein the vehicle 400 can drive into the unloading channel and unload the transported goods bearing member 200 onto the support frame 10b, and the aligning mechanism 100 can align the goods bearing member 200 and the goods 300, so that the goods 300 can be accurately positioned, and the requirements of a manipulator, a forklift, a stacker and the like on the goods taking and placing positions can be further met.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An alignment mechanism for transporting cargo by a vehicle, comprising:

a frame (10a) having a discharge channel;

a support frame (10b) provided in the discharge passage, through which a vehicle (400) can discharge a load carrier (200) for carrying a load onto the support frame (10 b);

-a first alignment assembly arranged on the frame (10) for moving the load carrier (200) to a first predetermined position in a direction perpendicular to the extension of the discharge aisle;

-a second alignment assembly arranged on the frame (10) and/or the support frame (10b) for moving the load carrier (200) to a second predetermined position in a direction extending parallel to the discharge passage.

2. The aligning mechanism for transporting goods by vehicle of claim 1, wherein the supporting frame (10b) is provided with a movable supporting component, the movable supporting component is used for receiving the goods bearing member (200) and can support the goods bearing member (200) to move and align.

3. The alignment mechanism for transporting cargo by vehicle as claimed in claim 1, wherein the first alignment assembly comprises two sets of first telescoping mechanisms (21), the two sets of first telescoping mechanisms (21) are respectively disposed on two opposite sides of the supporting frame (10b) along a direction perpendicular to the extension direction of the unloading channel, and the output end of the first telescoping mechanism (21) is disposed toward the supporting frame (10 b).

4. Aligning mechanism for vehicular transport of goods according to claim 3, characterized in that the output end of the first telescoping mechanism (21) is provided with a first rolling element (22).

5. The aligning mechanism for vehicle transportation cargo of claim 1, wherein the second aligning assembly comprises a set of second telescopic mechanisms (31) and a set of stop mechanisms (40) which are arranged at intervals along a direction extending parallel to the discharge passage, the second telescopic mechanisms (31) are used for moving the cargo carriers (200) to a direction approaching the stop mechanisms (40), and the stop mechanisms (40) are used for stopping the cargo carriers (200).

6. The alignment mechanism for vehicle transportation cargo of claim 5, wherein the second telescopic mechanism (31) is disposed on the frame (10a), an output end of the second telescopic mechanism (31) is hinged with a swing link (33), when the second telescopic mechanism (31) is extended, the second telescopic mechanism (31) can drive the cargo carrying member (200) to move towards the direction close to the stop mechanism (40) through the swing link (33), and when the second telescopic mechanism (31) is retracted, the swing link (33) can avoid the cargo carrying member (200) to enter and exit the unloading channel.

7. The aligning mechanism for vehicle transportation of cargo as claimed in claim 5, characterized in that the stop mechanism (40) is provided on the support frame (10b), the stop mechanism (40) comprising a stop seat (41) provided on the support frame (10b) and a stop (42) provided on the stop seat (41).

8. The alignment mechanism for vehicle transport cargo as claimed in claim 7, characterized in that a second proximity sensor (43) is arranged on the stop seat (41), the second proximity sensor (43) being used to detect whether the cargo carrier (200) abuts against the stop (42).

9. The alignment mechanism for vehicle transportation cargo of claim 1, wherein the cargo carrier (200) comprises a load-bearing platform (201) and a plurality of legs (202) supported at a lower end of the load-bearing platform (201), and the plurality of legs (202) are disposed on two sides of the support frame when the vehicle (400) carries the cargo carrier (200) into the discharge passage.

10. Handling system, comprising a vehicle (400) and an alignment mechanism (100) for vehicle transport of goods according to any of claims 1-9, the vehicle (400) being able to enter the discharge aisle and discharge the transported goods carriers (200) onto the support frame (10 b).