CN116443144B - Self-adaptive anti-shaking mechanism for goods shelf conveying, AGV conveying and conveying method - Google Patents
Self-adaptive anti-shaking mechanism for goods shelf conveying, AGV conveying and conveying method Download PDFInfo
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- CN116443144B CN116443144B CN202310476034.7A CN202310476034A CN116443144B CN 116443144 B CN116443144 B CN 116443144B CN 202310476034 A CN202310476034 A CN 202310476034A CN 116443144 B CN116443144 B CN 116443144B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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Abstract
本发明公开了一种货架搬运自适应防晃动机构、搬运AGV及搬运方法，防晃动机构包括底座、中间座以及上座体；上座体相对于中间座滑动安装，且两者间设置有第一弹性元件；中间座与底座构成第一滑动关系，且两者之间设置有第二弹性元件；底座上安装有滑块，滑块与底座构成第二滑动关系；第一滑动关系与第二滑动关系两者能够联动；滑块与上座体两者中，一者上具有传感器，另一者上具有感应特征。本发明中，第一滑动关系与第一弹性元件的设置可以在货架与搬运AGV之间起到缓冲作用，有效抑制货架的晃动；通过设置具有联动关系的第一滑动关系与所述第二滑动关系，可以使用货架的重量自动调节传感器与感应特征之间的距离，从而确定货架的运动加速度限值。
The invention discloses an adaptive anti-sway mechanism for shelf transportation, a transportation AGV and a transportation method. The anti-sway mechanism includes a base, a middle seat and an upper seat body; the upper seat body is slidably installed relative to the middle seat, and a first elasticity is provided between the two. element; the middle seat and the base form a first sliding relationship, and a second elastic element is provided between the two; a slider is installed on the base, and the slider and the base form a second sliding relationship; the first sliding relationship and the second sliding relationship The two can be linked; one of the slider and the upper body has a sensor, and the other has a sensing feature. In the present invention, the first sliding relationship and the first elastic element can play a buffering role between the shelf and the handling AGV, effectively suppressing the shaking of the shelf; by arranging the first sliding relationship and the second sliding relationship with a linkage relationship Relationship, the weight of the shelf can be used to automatically adjust the distance between the sensor and the sensing feature, thereby determining the movement acceleration limit of the shelf.
Description
Technical Field
The invention relates to the technical field of carrying AGVs, in particular to a self-adaptive goods shelf carrying anti-shaking mechanism, a carrying AGV and a carrying method.
Background
Current goods-to-person logistics sorting methods are becoming more and more widely used, and they rely on the implementation of a transport AGV that transports a mobile pallet with a target good to a sorting workstation for staff to pick up the good, as shown in prior art CN 209834685U. Because the height of the goods shelves that are carried is higher, the height of goods shelves is 5-10 times of the height of the transport AGV generally, the in-process of transport AGV transport goods shelves, the goods shelves rock when AGV acceleration and deceleration is the problem that is difficult to avoid, in order to control the rocking range of goods shelves, can only realize through the acceleration that limits transport AGV, but because the quantity of goods shelves is more, the weight of goods is different on different goods shelves, and transport AGV still often need carry empty goods shelves, consequently, the goods shelves weight difference is very big, in order to control rocking of goods shelves, can only confirm the acceleration limit of transport AGV through the motion condition of the great goods shelves of load, also can only move with less acceleration limit when carrying AGV transport empty goods shelves like this, can obviously reduce transport efficiency.
Disclosure of Invention
The invention aims to: in order to overcome the defects in the prior art, the invention provides a shelf conveying self-adaptive anti-shake mechanism, a conveying AGV and a conveying method, wherein the acceleration limit value of the AGV can be limited according to the weight of a shelf so as to inhibit the shelf from shaking.
The technical scheme is as follows: in order to achieve the above purpose, the self-adaptive anti-shake mechanism for carrying the goods shelf comprises a base, a middle seat and an upper seat body;
the upper seat body can horizontally slide relative to the middle seat body, and a first elastic element is arranged between the upper seat body and the middle seat body, so that the relative position of the upper seat body and the middle seat body has a tendency of returning to the initial relative position;
a first sliding relation with the sliding direction being the vertical direction is formed between the middle seat and the base, and a second elastic element for applying upward acting force to the middle seat is arranged between the middle seat and the base;
the base is provided with a sliding block, and a second sliding relation with the sliding direction being the horizontal direction is formed between the sliding block and the base; the first sliding relation and the second sliding relation are in linkage relation;
one of the sliding block and the upper seat body is provided with a sensor, and the other is provided with an induction characteristic which can enable the sensor to generate a trigger signal.
Further, the sliding block is provided with a first inclined plane; the middle seat is provided with a second inclined plane which is contacted with the first inclined plane.
Further, a third elastic element acting on the slider is included, the third elastic element keeping the first inclined surface in contact with the second inclined surface.
Further, a first vertical rack is arranged on the middle seat, a second horizontal rack is arranged on the sliding block, and gears meshed with the first rack and the second rack are arranged on the base.
Further, two sliding blocks are installed on the base, and the sliding directions of the two sliding blocks relative to the base are always opposite.
Further, a guide sleeve is arranged on the base, and a guide post which is in sliding fit with the guide sleeve is arranged on the middle seat.
Further, the upper end of the middle seat is provided with a notch part, and the lower end of the upper seat body is provided with a convex part which protrudes downwards and is arranged in the notch part; the first elastic element is arranged between two sides of the protruding portion and two side walls of the notch portion.
The AGV comprises a mobile chassis, a jacking mechanism and a control system; the self-adaptive anti-shaking mechanism for carrying the goods shelf is arranged above the jacking mechanism; the sensor is connected with the control system.
A transport method based on the above transport AGV; the method comprises the following steps:
controlling the jacking mechanism to execute jacking operation so as to jack up the goods shelf;
controlling the motion of the mobile chassis, and judging whether the sensor generates a trigger signal or not in real time;
when the sensor generates a trigger signal, the sensor controls the mobile chassis to reduce the absolute value of the acceleration or maintain the current acceleration.
Further, the absolute value of the control of the mobile chassis to reduce the acceleration is specifically:
and multiplying the absolute value of the acceleration of the mobile chassis when the trigger signal is generated by a preset coefficient smaller than 1 to obtain the acceleration limit value of the current carried goods shelf, and enabling the absolute value of the acceleration of the mobile chassis not to exceed the acceleration limit value.
The beneficial effects are that: the self-adaptive anti-shaking mechanism for carrying the goods shelf, the AGV carrying method and the automatic guided vehicle have the following beneficial effects:
(1) By arranging the first sliding relation and the first elastic element, the first elastic element can play a role in buffering when the AGV is conveyed to accelerate or brake, and the shaking of a conveyed goods shelf is effectively restrained;
the first sliding relation and the second sliding relation with the linkage relation are skillfully arranged, so that the weight of the goods shelf can determine the distance between the sensor and the sensing characteristic, namely the acceleration limit value of the motion of each carried goods shelf is determined, and the acceleration limit value is accurately matched with the weight of the goods shelf; and then in the process of controlling the movement of the carrying AGV, the control system reduces the absolute value of the acceleration or maintains the current acceleration when the sensor generates a trigger signal, so that each goods shelf can be subjected to targeted shake inhibition, and the carrying efficiency can be improved. The above-mentioned process is implemented by utilizing operation principle of mechanical structure, and is not implemented by means of electric control, and does not increase control complexity.
Drawings
FIG. 1 is a perspective view of a rack handling adaptive anti-shake mechanism according to one embodiment;
FIG. 2 is a cross-sectional block diagram of a pallet jack adaptive anti-sloshing mechanism in one embodiment;
FIG. 3 is a block diagram of one embodiment of a first ramp being held in contact with a second ramp;
FIG. 4 is a block diagram of a pallet jack adaptive anti-shake mechanism according to an embodiment;
FIG. 5 is a block diagram of a transport AGV;
FIG. 6 is a state diagram of the AGV transporting the pallet.
In the figure: 10-a self-adaptive anti-shake mechanism for carrying goods shelves; 101-a base; 101 a-a guide sleeve; 102-an intermediate seat; 102 a-a second ramp; b-grooves; 102 b-a recess; 102 c-a guide post; 103-an upper seat body; 103 a-a boss; 104-a first elastic element; 105-a second elastic element; 106-a sensor; 107-sliders; 107 a-a first ramp; a-a boss; 108-sensing a feature; 109-a third elastic element; 110-a first rack; 111-a second rack; 112-a gear; 20-moving the chassis; 30-a jacking mechanism; 40-jacking the tray.
Description of the embodiments
The invention will be further described with reference to the accompanying drawings.
1-2, a rack carrying adaptive anti-shake mechanism 10 (hereinafter referred to as anti-shake mechanism 10) comprises a base 101, a middle seat 102 and an upper seat body 103; the upper seat body 103 can slide horizontally relative to the middle seat 102, and a first elastic element 104 is arranged between the upper seat body and the middle seat body, and the first elastic element 104 enables the relative position of the upper seat body and the middle seat body to have a tendency of returning to the initial relative position; the initial relative position is the relative position between the upper seat body 103 and the intermediate seat 102 when the transport AGV in which the sway prevention mechanism 10 is located is in a stationary state.
A first sliding relationship with the sliding direction being the vertical direction is formed between the middle seat 102 and the base 101, and a second elastic element 105 for applying upward force to the middle seat 102 is arranged between the two; a sliding block 107 is mounted on the base 101, and a second sliding relationship with the sliding direction being a horizontal direction is formed between the sliding block 107 and the base 101; the first sliding relationship and the second sliding relationship have a linkage relationship therebetween.
One of the slider 107 and the upper base 103 is provided with a sensor 106, and the other is provided with a sensing feature 108 that enables the sensor 106 to generate a trigger signal. The sensing feature 108 does not cause the sensor 106 to generate a trigger signal when the transport AGV in which the anti-sway mechanism 10 is located is at rest, and the sensing feature 108 can only act on the sensor 106 to generate a trigger signal if the upper seat 103 is offset a distance relative to the intermediate seat 102.
In this embodiment, as shown in fig. 1, the sensor 106 is mounted on a slider 107 and the sensing feature 108 is located on the upper housing 103. Specifically, the sensor 106 is an inductive sensor and the inductive feature 108 is a sheet metal. In other embodiments, the sensor 106 and the sensing feature 108 may be in other forms, and any manner in which the sensing feature 108 enables the sensor 106 to generate a trigger signal should be considered as falling within the scope of the present invention.
In the first embodiment, in order to establish a linkage relationship between the first sliding relationship and the second sliding relationship, the slider 107 has a first inclined surface 107a thereon; the intermediate seat 102 is provided with a second inclined surface 102a which contacts the first inclined surface 107 a.
As shown in fig. 5, the present invention further provides a transport AGV, which includes a mobile chassis 20, a lifting mechanism 30, and a control system, and further includes the above-mentioned self-adaptive anti-shake mechanism 10 for rack transport, where the self-adaptive anti-shake mechanism 10 for rack transport is installed above the lifting mechanism 30; the sensor 106 is connected to the control system. The mobile chassis 20 and the lifting mechanism 30 are also controlled to operate by a control system. The specific structure of the mobile chassis 20 and the lifting mechanism 30 can refer to the prior art, and since these two are not innovation points of the present invention, specific description of the specific structure of the two is omitted. The lifting tray 40 may be installed above the shaking prevention mechanism 10 to increase the supporting area. As shown in fig. 6, after the transport AGV lifts the shelf, the anti-shake mechanism 10 receives the entire weight of the shelf.
When the transport AGV carries goods shelves motion, at the acceleration or brake stage, owing to the existence of upper seat body 103 and first elastic element 104, the acceleration change of transport AGV can not make the goods shelves produce same acceleration immediately, and first elastic element 104 can play the cushioning effect for the speed of goods shelves increases gradually or reduces, so can effectively reduce goods shelves and rock. When the first elastic element 104 plays a buffering role, the upper seat body 103 slides relative to the middle seat 102 to deviate from the initial position, when the moving acceleration of the carrying AGV is too fast, the deviation distance of the upper seat body 103 relative to the middle seat 102 reaches a specific value, the sensor 106 generates a sensing signal by the sensing feature 108, and the control system can acquire the moving state of the carrying AGV. Since the first sliding relationship and the second sliding relationship have a linkage relationship therebetween, the height position of the intermediate seat 102, that is, the position of the slider 107, is determined, that is, the position of the sensor 106 is determined, and the height position of the intermediate seat 102 is determined by the load, that is, the weight of the pallet, so that the dead weight of the pallet can change the position of the slider 107 when the AGV is carrying the pallet with different weights.
It can be seen that the weight of the pallet and the distance between the sensor 106 and the sensing feature 108 are interrelated, the lighter the pallet, the greater the distance between the sensor 106 and the sensing feature 108, the greater the acceleration the conveyor AGV can move; the heavier the shelf, the closer the distance between the sensor 106 and the sensing feature 108, and the less acceleration the transport AGV can move. So can realize according to the function of rocking is prevented in cargo weight self-adaptation.
Furthermore, the anti-shake mechanism 10 further comprises a third elastic element 109 acting on the slider 107, the third elastic element 109 keeping the first inclined surface 107a in contact with the second inclined surface 102a. The third elastic element 109 may be arranged between the slide 107 and the base 101, or in the present embodiment, the third elastic element 109 may be arranged between two slides 107, and the third elastic element 109 is a compression spring.
In other embodiments, other configurations may be used to maintain the first inclined surface 107a in contact with the second inclined surface 102a, such as in the embodiment shown in fig. 3, a dovetail-shaped protrusion a may be provided on the first inclined surface 107a, and a dovetail-shaped groove b may be provided on the second inclined surface 102a, with the protrusion a being embedded in the groove b, so that the two inclined surfaces are maintained in contact, as shown in a cross-sectional view perpendicular to the direction of the first inclined surface 107 a.
In addition, the linkage relationship between the first sliding relationship and the second sliding relationship can be established through other structures. In the second embodiment, as shown in fig. 4, a first vertical rack 110 is mounted on the middle seat 12, a second horizontal rack 111 is mounted on the slider 107, and a gear 112 engaged with both the first rack 110 and the second rack 111 is mounted on the base 11.
In the illustrated embodiment, since the transport AGV has a bidirectional acceleration and deceleration requirement, two sliders 107 are mounted on the base 101, and the sliding directions of the two sliders 107 relative to the base 101 are always opposite. For both sensing objects of the sensor 106 and the sensing feature 108, the sensing object on the upper base 103 (i.e. the sensing feature 108 in this embodiment) is always between the two sensing objects corresponding to the two sliders 107 (i.e. the sensor 106 in this embodiment). In other embodiments, only one slider 107 may be provided, and the number of sensors 106 and sensing features 108 is one accordingly.
The base 101 is provided with a guide sleeve 101a, and the middle seat 102 is provided with a guide post 102c which is in sliding fit with the guide sleeve 101 a. The guide sleeves 101a are installed at four corners of the base 101, so that a reliable first sliding relationship can be established by matching the guide sleeves 101a with the guide posts 102c.
The upper end of the middle seat 102 is provided with a notch part 102b, and the lower end of the upper seat body 103 is provided with a protruding part 103a protruding downwards and arranged in the notch part 102 b; the first elastic element 104 is disposed between two sides of the protruding portion 103a and two sidewalls of the recess portion 102 b. With this structural arrangement, the notch portion 102b can play a limiting role on the boss 103a, preventing the upper housing 103 from sliding out of position.
The invention also provides a carrying method based on the AGV; the method comprises the following steps S501-S503:
step S501, controlling the jacking mechanism 30 to perform a jacking operation to jack up the shelf;
in this step, after the shelf is lifted, the dead weight of the shelf compresses the second elastic element 105, the compression amount, that is, the lowering distance of the middle seat 102 is determined by the weight of the shelf, and the lowering distance of the middle seat 102 determines the traversing distance of the slider 107, that is, determines the position of the sensing object (the sensor 106 in the illustrated embodiment) on the slider 107; it can be seen that the position of the sensing object on the slider 107 is determined by the weight of the shelf, the heavier the shelf, the closer the distance between the sensor 106 and the sensing feature 108; the lighter the shelf, the more distant the sensor 106 is from the sensing feature 108.
Step S502, controlling the motion of the mobile chassis 20, and determining in real time whether the sensor 106 generates a trigger signal;
in step S503, when the sensor 106 generates a trigger signal, the mobile chassis 20 is controlled to decrease the absolute value of the acceleration or maintain the current acceleration.
In the above steps S502-S503, when the mobile chassis 20 accelerates or decelerates during the movement, the upper seat body 103 will slip relative to the middle seat 102 to deviate from its initial position, the larger the deviation distance is, the larger the absolute value of the acceleration of the mobile chassis 20 is, when the sensor 106 generates the trigger signal, the absolute value of the acceleration of the mobile chassis 20 reaches the limit value, the absolute value of the acceleration should be reduced or the current acceleration should be maintained, so as to avoid excessive shaking of the shelf. Because the smart structural design of the anti-shaking mechanism 10 in the invention enables the distance between the sensor 106 and the sensing feature 108 and the weight of the goods shelf to be related, the limit value of the absolute value of the acceleration corresponding to the goods shelf with different weights is different, the control system can adaptively accelerate and decelerate the goods shelf, the goods shelf is prevented from shaking too much, the carrying efficiency is improved, the self-adaption process is realized without complex program, and the control difficulty is low.
Preferably, the controlling the absolute value of the acceleration of the mobile chassis 20 in the step S503 specifically includes: the absolute value of the acceleration of the mobile chassis 20 when the trigger signal is generated is multiplied by a preset coefficient (e.g., 0.9) smaller than 1 to be used as the acceleration limit value of the currently carried goods shelf, and then the running acceleration of the mobile chassis 20 does not exceed the acceleration limit value in the whole process of carrying the goods shelf, so that after the sensor 106 generates the trigger signal for the first time, the control system does not need to rely on the trigger signal generated by the sensor 106 to limit the running acceleration of the mobile chassis 20, and the problem of non-linearity of speed control caused by frequent prompt of the control system to reduce the acceleration of the mobile chassis 20 can be avoided.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (6)
1. The self-adaptive anti-shaking mechanism (10) for carrying the goods shelf is characterized by comprising a base (101), a middle seat (102) and an upper seat body (103);
the upper seat body (103) can horizontally slide relative to the middle seat (102), and a first elastic element (104) is arranged between the upper seat body and the middle seat, and the first elastic element (104) enables the relative position of the upper seat body and the middle seat body to have a tendency of returning to the initial relative position;
a first sliding relation with the sliding direction being the vertical direction is formed between the middle seat (102) and the base (101), and a second elastic element (105) for applying upward acting force to the middle seat (102) is arranged between the middle seat and the base;
a sliding block (107) is arranged on the base (101), and a second sliding relation with the sliding direction being the horizontal direction is formed between the sliding block (107) and the base (101); the first sliding relation and the second sliding relation are in linkage relation;
one of the sliding block (107) and the upper seat body (103) is provided with a sensor (106), and the other is provided with an induction feature (108) which can enable the sensor (106) to generate a trigger signal;
the sliding block (107) is provided with a first inclined plane (107 a); the middle seat (102) is provided with a second inclined surface (102 a) which is contacted with the first inclined surface (107 a); -a third elastic element (109) acting on the slider (107), the third elastic element (109) keeping the first inclined surface (107 a) in contact with the second inclined surface (102 a);
or, a first vertical rack (110) is arranged on the middle seat (102), a second horizontal rack (111) is arranged on the sliding block (107), and gears (112) meshed with the first rack (110) and the second rack (111) are arranged on the base (101);
two sliding blocks (107) are arranged on the base (101), and the sliding directions of the two sliding blocks (107) relative to the base (101) are always opposite.
2. The self-adaptive anti-shake mechanism (10) for pallet handling according to claim 1, wherein the base (101) has a guide sleeve (101 a) thereon, and the intermediate seat (102) has a guide post (102 c) thereon that slidably mates with the guide sleeve (101 a).
3. The rack handling adaptive anti-shake mechanism (10) according to claim 1, wherein the upper end of the intermediate seat (102) has a recess (102 b), and the lower end of the upper seat body (103) has a protruding portion (103 a) protruding downward and disposed in the recess (102 b); the first elastic element (104) is arranged between two sides of the protruding portion (103 a) and two side walls of the notch portion (102 b).
4. The AGV comprises a mobile chassis (20), a jacking mechanism (30) and a control system; -characterized in that it further comprises a pallet-handling adaptive anti-shake mechanism (10) according to any of claims 1-3, said pallet-handling adaptive anti-shake mechanism (10) being mounted above said jacking mechanism (30); the sensor (106) is connected to the control system.
5. A transport method based on the transport AGV of claim 4; the method is characterized in that: the method comprises the following steps:
controlling the jacking mechanism (30) to execute jacking operation so as to jack up the goods shelf;
controlling the motion of the mobile chassis (20) and judging whether the sensor (106) generates a trigger signal in real time;
when the sensor (106) generates a trigger signal, the mobile chassis (20) is controlled to reduce the absolute value of the acceleration or maintain the current acceleration.
6. The method of claim 5, wherein: the absolute value of the acceleration of the mobile chassis (20) is controlled to be reduced specifically as follows:
and multiplying the absolute value of the acceleration of the mobile chassis (20) when the trigger signal is generated by a preset coefficient smaller than 1 to obtain the acceleration limit value of the current carried goods shelf, and enabling the absolute value of the acceleration of the mobile chassis (20) not to exceed the acceleration limit value.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310476034.7A CN116443144B (en) | 2023-04-28 | 2023-04-28 | Self-adaptive anti-shaking mechanism for goods shelf conveying, AGV conveying and conveying method |
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| CN202310476034.7A CN116443144B (en) | 2023-04-28 | 2023-04-28 | Self-adaptive anti-shaking mechanism for goods shelf conveying, AGV conveying and conveying method |
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| CN116443144B true CN116443144B (en) | 2023-10-17 |
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| CN116443144A (en) | 2023-07-18 |
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