CN206345307U - Automatic picking delivering device based on automatic guided vehicle - Google Patents
Automatic picking delivering device based on automatic guided vehicle Download PDFInfo
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- CN206345307U CN206345307U CN201621239822.6U CN201621239822U CN206345307U CN 206345307 U CN206345307 U CN 206345307U CN 201621239822 U CN201621239822 U CN 201621239822U CN 206345307 U CN206345307 U CN 206345307U
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- picking
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- picking arm
- guided vehicle
- cargo location
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Abstract
The utility model discloses a kind of automatic picking delivering device based on automatic guided vehicle, on the electronic control box of automatic guided vehicle, including：First cargo location sensor, for the cargo location in front of sensing and the first cargo location signal of transmission；Picking arm, edge is moved back and forth perpendicular to the direction of front and rear side, and is rotated about axis, and the front end of picking arm is provided with canvasses structure for cargo collection；Picking arm drive mechanism, communicates with the first cargo location inductor, drives picking arm to work according to the first cargo location signal received, canvasses goods；Conveyer belt, coordinates with picking arm, for picking and unloading.The utility model has the advantage of sense cargo location by cargo location induction installation and coordinate adjustment position by picking arm and picking arm drive mechanism, carry out the automatic picking unloading of goods, save labour.
Description
Technical field
The utility model is related to logistics transportation field, more particularly to a kind of automatic picking unloading based on automatic guided vehicle is set
It is standby.
Background technology
The progress of science and technology makes Logistics Equipment increasingly pay attention to automation and human oriented design, strong with the work for reducing workman
Degree, improving working conditions makes operation more free and relaxed.Wherein Automatic Guided Vehicle is collection machinery, electronics, control, computer, sensing
The multidisciplinary advanced technology such as device, artificial intelligence is in the important automated arm of the modern manufacturing industry of one.Automated Sorting System exists
In most short time from huge high-rise goods deposit frame storage system in accurate find want the commodity position of outbound, and needed for
The commodity of the varying number taken out from different storage spaces are transported to different operation areas by quantity outbound by the difference in dispatching place
Domain or dispatching platform are concentrated, so that entrucking is dispensed.
The Automatic Guided Vehicle of prior art includes the rolling controlled as the electronic control box of vehicle body and by electronic control box
Wheel, is provided with tracking sensor inside electronic control box, and electronic control box sends trajectory signal by tracking sensor and passed through
Remote sensing receives signal, to drive roller to be moved to specified location, the top of electronic control box as arrangement of goods platform.With
The automaticity of sorting line is improved, the demand of Automatic Guided Vehicle also not too many core in more and more higher, but application technology
Technological accumulation and innovation.Still need in sorting line end by the goods sorted out manually is carried out into collection load, entrucking, need to expend
Substantial amounts of labour.
Therefore, the Automatic Guided Vehicle that a kind of goods that can export sorting line end carries out automatic loading and unloading is needed badly.
Utility model content
In order to solve problem of the prior art there is provided a kind of automatic picking delivering device, carried instead of manual handling.
A kind of automatic picking delivering device based on automatic guided vehicle, on the electronic control box of automatic guided vehicle, institute
Stating Electronic Control box top has front and rear sides, and the automatic picking delivering device includes：
First cargo location sensor, the front side located at Electronic Control box top, for the cargo location in front of sensing simultaneously
Send the first cargo location signal；
Picking arm, edge is moved back and forth perpendicular to the direction of front and rear side, and is rotated about axis, and the axis is perpendicular to picking arm
Moving direction, the front end of picking arm is provided with canvasses structure for cargo collection；
Picking arm drive mechanism, communicates with the first cargo location inductor, according to the first cargo location signal received
The work of picking arm is driven, goods is canvassed；
Conveyer belt, is arranged on Electronic Control box top, and the transmission direction of conveyer belt is identical with the moving direction of picking arm, institute
State conveyer belt with picking arm to coordinate, for picking and unloading.
Optionally, in addition to above conveyer belt to recognize and obtain the goods information of goods information dress is gathered
Put.
Optionally, the goods information harvester is two-dimensional code scanning device, bar code scanner and image recognition
Device one of which.
Optionally, in addition to：
The second cargo location sensor positioned at conveyer belt at least side, for recognizing the position of goods on a moving belt
Position simultaneously sends the second cargo location induced signal；
It is located at the support bar of conveyer belt both sides respectively perpendicular to direction of belt travel；
U-shaped elevating lever, including cross bar and the montant positioned at cross bar both sides, two montants are slidably arranged in correspondence respectively
Support bar on；
Elevating lever drive mechanism, for driving montant to move up and down；
The timing belt guide rail on cross bar is arranged on, goods information harvester is installed on timing belt guide rail, and elevating lever
Drive mechanism and timing belt guide rail are communicated with the second cargo location sensor, are sensed according to the second cargo location received
Signal drives goods information harvester to carry out the movement in vertical and horizontal directions.
Optionally, the goods information harvester is provided with the communication module that telecommunication is carried out with control centre, is used to
Goods information is sent to control centre and receives deployment information from control centre.
Optionally, picking arm drive mechanism includes：The first direction drive mechanism that is moved forward and backward of driving picking arm with
And the second direction drive mechanism that driving picking arm is rotated upwardly and downwardly.
Optionally, the first direction drive mechanism includes：Ball screw assembly, and stepper motor, the driving stepper motor
The screw mandrel of ball screw assembly, rotates to control the nut seat of ball screw assembly, to move back and forth, and the picking arm is rotatably installed in spiral shell
In female seat；The second direction drive mechanism is steering wheel, the servo driving picking arm reciprocally swinging.
Optionally, the structure of canvassing is installed in picking arm free end and the straight-bar perpendicular with picking arm.
And the first cargo location sensor, picking optionally, in addition to the hoistable platform located at Electronic Control box top,
Arm, picking arm drive mechanism and conveyer belt may be contained within the hoistable platform.
Optionally, in addition to the obstacle identification device of electronic control box side is arranged at, the obstacle identification device is with passing
Send the drive mechanism of band to communicate, drive conveyer belt to operate to send unloading signal.
The utility model has the advantage of sense cargo location by the first cargo location induction installation and pass through picking arm
Coordinate adjustment position with picking arm drive mechanism, carry out the automatic of goods and canvass, in unloading, by conveyer belt by goods from nothing
Unloaded on people's carrier, realize automatic picking unloading, save labour；Collection and control centre by goods information
Scheduling, is capable of the use of each automatic guided vehicle of reasonable distribution；By hoistable platform, the height of unloading can be adjusted flexibly, it is to avoid
Goods is damaged；Driving in multiple directions is carried out to picking arm, different cargo locations and size are can adapt to, to ensure smoothly
Picking；Pass through timing belt guide rail mobile cargo information collecting device, it is ensured that the goods information on each goods diverse location can
Arrived by accurate acquisition.
Brief description of the drawings
Fig. 1 is the automatic picking delivering device structural representation of the utility model one embodiment；
Fig. 2 is the control system schematic diagram of automatic picking delivering device in the present embodiment.
In figure：
1st, electronic control box；2nd, front-wheel；3rd, trailing wheel；4th, tracking sensor；5th, obstacle identification device；6th, fork folder control dress
Put；7th, clamping structure is pitched；8th, hoistable platform；9th, the first cargo location sensor；10th, conveyer belt；11st, the second cargo location is sensed
Device；12nd, support bar；13rd, montant；14th, timing belt guide rail；15th, cross bar；16th, goods information harvester；17th, stepper motor；
18th, screw mandrel；19th, nut seat；20th, straight-bar；21st, picking arm；22nd, steering wheel.
Embodiment
To make the utility model understand in more detail, it is further explained in conjunction with drawings and examples.
The automatic picking delivering device of the utility model one embodiment is as shown in figure 1, located at existing automatic guided vehicle
On, existing automatic guided vehicle includes electronic control box 1 and the four wheels (before i.e. a pair installed in the bottom of electronic control box 1
Wheel 2 and a pair of rear wheels 3), moving structure is controlled by electronic remote sensing, is driven by trailing wheel 3, and front-wheel 2 is turned to, with tracking sensor
4, the control instruction sent according to remote sensing can circuit as defined in automatic tracking walking to appointed place and automatic charging.
In the present example, automatic picking delivering device includes：
First cargo location sensor 9, the front side located at the top of electronic control box 1, for the cargo location in front of sensing
And send the first cargo location signal；
Picking arm 21, edge is moved back and forth perpendicular to the direction of front and rear side, and is rotated about axis, and axis is perpendicular to picking arm 21
Moving direction, the front end of picking arm 21 is provided with canvasses structure for cargo collection；
Picking arm drive mechanism, communicates with the first cargo location inductor, according to the first cargo location signal received
Driving picking arm 21 works, and canvasses goods；
Conveyer belt 10, is arranged on the top of electronic control box 1, the transmission direction of conveyer belt 10 and the moving direction of picking arm 21
Identical, conveyer belt 10 coordinates with picking arm 21, for picking and unloading.
In the present embodiment, in addition to the goods information installed in the top of conveyer belt 10 to recognize and obtain goods information
Harvester 16.
Goods information harvester 16 is two-dimensional code scanning device, bar code scanner and pattern recognition device wherein one
Person.In present example, goods information harvester 16 is bar code scanner, in other implementations, it would however also be possible to employ
Two-dimensional code scanning instrument, pattern recognition device, e-tag reader, etc., being engaged with the goods information carrier on goods makes
With.
In the present embodiment, in addition to：
The second cargo location sensor 11 positioned at least side of conveyer belt 10, for recognizing the position of goods in conveyer belt
Position and the second cargo location induced signal of transmission on 10；
It is located at the support bar 12 of the both sides of conveyer belt 10 respectively perpendicular to the direct of travel of conveyer belt 10；
U-shaped elevating lever, including cross bar 15 and the montant 13 positioned at the both sides of cross bar 15, two montants 13 are slided respectively to be set
Put on corresponding support bar 12；
Elevating lever drive mechanism, for driving montant 13 to move up and down；
The timing belt guide rail 14 on cross bar 15 is arranged on, goods information harvester 16 is installed on timing belt guide rail 14,
And elevating lever drive mechanism and timing belt guide rail 14 are communicated with the second cargo location sensor 11, according to second received
Cargo location induced signal drives goods information harvester 16 to carry out the movement in vertical and horizontal directions.
In the present embodiment, goods information harvester 16 is provided with the communication module that telecommunication is carried out with control centre,
To send goods information to control centre and receive deployment information from control centre.
In the present embodiment, picking arm drive mechanism includes：The first direction that driving picking arm 21 is moved forward and backward drives
The second direction drive mechanism that motivation structure and driving picking arm 21 are rotated upwardly and downwardly.
In the present embodiment, first direction drive mechanism includes：Ball screw assembly, and stepper motor 17, stepper motor 17 drive
The screw mandrel 18 of dynamic ball screw assembly, is rotated to control the nut seat 19 of ball screw assembly, to move back and forth, and picking arm 21 is rotatablely installed
On nut seat 19；Second direction drive mechanism is steering wheel 22, the reciprocally swinging of the driving picking of steering wheel 22 arm 21.
In the present embodiment, it is installed in the free end of picking arm 21 and the straight-bar perpendicular with picking arm 21 to canvass structure
20。
In the present embodiment, in addition to the hoistable platform 8 located at the top of electronic control box 1, and the first cargo location sensing
Device 9, picking arm 21, picking arm drive mechanism and conveyer belt 10 may be contained within hoistable platform 8.
In the present embodiment, in addition to it is arranged at the obstacle identification device 5 of the side of electronic control box 1, obstacle identification device 5
Communicated with the drive mechanism of conveyer belt 10, drive conveyer belt 10 to operate to send unloading signal.
The first cargo location of the present embodiment sensor 9 senses the goods in the scope of activities of picking arm 21 so that with two
The picking arm 21 of the free degree on individual direction can easily canvass goods, in picking, and picking arm 21 controls rotation by steering wheel 22
Turn so that the laminating of the straight-bar 20 express delivery back side pull goods to the conveyer belt 10 of equipment；Second cargo location sensor 11 is felt
The goods that should be arrived into conveyer belt 10, sends the second cargo location induced signal to elevating lever drive mechanism and timing belt guide rail
14, elevating lever drive mechanism and timing belt guide rail 14 receive and drive goods information 16 carry out levels of harvester vertical after signal
The motion of two frees degree.Goods information harvester 16 senses the bar code in scanning range and transmits scanning information control
Center.When transporting specified location, the obstacle identification device 5 of the side of electronic control box 1 judges whether front has barrier,
Do not have to send drive mechanism (in present example be reducing motor) of the unloading signal to conveyer belt 10 in the case of barrier, by
Reducing motor drives conveyer belt 10, pushes goods and enters lorry or other break bulk points；Unloading when, also by hoistable platform 8 come
Dump height is adjusted, different discharge locations are adapted to.Hoistable platform 8 includes fork clamping structure 7 and fork folder control device 6, fork folder knot
Structure 7 has certain elemental height, and adjustable height determines the height of unloading.In present example, fork folder control device 6 is known with obstacle
Other device 5 is communicated, when obstacle identification device 5 judge it is accessible and send unloading signal when control hoistable platform 8 lift.
As shown in Fig. 2 in present example, control centre is used to control logistic storage center streamline end, passes through goods
The long-range shipment information of thing information collecting device 16, each automatic picking delivering device and lorry are numbered, can be real
When feed back storage center function situation, control centre distributes to each device task according to the situation of feedback.Pass through cloud meter
Calculate, judge which port picking each device should go to, which lorry be carried to, and record loading condition in lorry.Automatically
Picking delivering device is by its circuit of host computer control and automatic charging.
The utility model has the advantage of, by cargo location induction installation sense cargo location and by picking arm 21 with
Picking arm drive mechanism coordinates adjustment position, carries out the automatic of goods and canvasses, in unloading, by conveyer belt 10 by goods from nothing
Unloaded on people's carrier, realize automatic picking unloading, save labour；Collection and control centre by goods information
Scheduling, is capable of the use of each automatic guided vehicle of reasonable distribution；By hoistable platform 8, the height of unloading can be adjusted flexibly, it is to avoid
Goods is damaged；Driving in multiple directions is carried out to picking arm 21, different cargo locations and size are can adapt to, it is suitable to ensure
Sharp picking；Pass through the mobile cargo information collecting device 16 of timing belt guide rail 14, it is ensured that the goods information on each goods diverse location
It can be arrived by accurate acquisition.
Claims (10)
1. a kind of automatic picking delivering device based on automatic guided vehicle, on the electronic control box of automatic guided vehicle, it is special
Levy and be, the Electronic Control box top has front and rear sides, the automatic picking delivering device includes：
First cargo location sensor, the front side located at Electronic Control box top, for the cargo location in front of sensing and transmission
First cargo location signal；
Picking arm, edge is moved back and forth perpendicular to the direction of front and rear side, and is rotated about axis, shifting of the axis perpendicular to picking arm
Dynamic direction, the front end of picking arm is provided with canvasses structure for cargo collection；
Picking arm drive mechanism, communicates with the first cargo location inductor, is driven according to the first cargo location signal received
Picking arm works, and canvasses goods；
Conveyer belt, is arranged on Electronic Control box top, and the transmission direction of conveyer belt is identical with the moving direction of picking arm, described to pass
Band is sent to coordinate with picking arm, for picking and unloading.
2. the automatic picking delivering device based on automatic guided vehicle as claimed in claim 1, it is characterised in that also including installed in
Goods information harvester of the conveyer belt top to recognize and obtain goods information.
3. the automatic picking delivering device as claimed in claim 2 based on automatic guided vehicle, it is characterised in that the goods information
Harvester is two-dimensional code scanning device, bar code scanner and pattern recognition device one of which.
4. the automatic picking delivering device as claimed in claim 2 based on automatic guided vehicle, it is characterised in that also include：
The second cargo location sensor positioned at conveyer belt at least side, for recognizing the position of the position of goods on a moving belt
And send the second cargo location induced signal；
It is located at the support bar of conveyer belt both sides respectively perpendicular to direction of belt travel；
U-shaped elevating lever, including cross bar and the montant positioned at cross bar both sides, two montants are slidably arranged in corresponding branch respectively
On strut；
Elevating lever drive mechanism, for driving montant to move up and down；
The timing belt guide rail on cross bar is arranged on, goods information harvester is installed on timing belt guide rail, and elevating lever drives
Mechanism and timing belt guide rail are communicated with the second cargo location sensor, according to the second cargo location induced signal received
Goods information harvester is driven to carry out the movement in vertical and horizontal directions.
5. the automatic picking delivering device as claimed in claim 2 based on automatic guided vehicle, it is characterised in that the goods information
Harvester is provided with the communication module that telecommunication is carried out with control centre, to send goods information and from control to control centre
Center processed receives deployment information.
6. the automatic picking delivering device as claimed in claim 1 based on automatic guided vehicle, it is characterised in that picking arm driving machine
Structure includes：The first direction drive mechanism that is moved forward and backward of driving picking arm and drive that picking arm rotated upwardly and downwardly the
Two direction drive mechanisms.
7. the automatic picking delivering device as claimed in claim 6 based on automatic guided vehicle, it is characterised in that the first direction
Drive mechanism includes：Ball screw assembly, and stepper motor, the screw mandrel of the driving stepper motor ball screw assembly, rotate to control
The nut seat of ball screw assembly, processed is moved back and forth, and the picking arm is rotatably installed on nut seat；The second direction driving machine
Structure is steering wheel, the servo driving picking arm reciprocally swinging.
8. the automatic picking delivering device as claimed in claim 1 based on automatic guided vehicle, it is characterised in that described to canvass structure
For installed in picking arm free end and the straight-bar perpendicular with picking arm.
9. the automatic picking delivering device based on automatic guided vehicle as described in claim any one of 1-8, it is characterised in that also wrap
Include the hoistable platform located at Electronic Control box top, and the first cargo location sensor, picking arm, picking arm drive mechanism and biography
Band is sent to may be contained within the hoistable platform.
10. the automatic picking delivering device as claimed in claim 1 based on automatic guided vehicle, it is characterised in that also including setting
Obstacle identification device in electronic control box side, the obstacle identification device communicates with the drive mechanism of conveyer belt, to send out
Unloading signal is sent to drive conveyer belt to operate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621239822.6U CN206345307U (en) | 2016-11-16 | 2016-11-16 | Automatic picking delivering device based on automatic guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621239822.6U CN206345307U (en) | 2016-11-16 | 2016-11-16 | Automatic picking delivering device based on automatic guided vehicle |
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| Publication Number | Publication Date |
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| CN206345307U true CN206345307U (en) | 2017-07-21 |
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ID=59318115
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621239822.6U Expired - Fee Related CN206345307U (en) | 2016-11-16 | 2016-11-16 | Automatic picking delivering device based on automatic guided vehicle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106379685A (en) * | 2016-11-16 | 2017-02-08 | 杭州电子科技大学 | Automatic goods taking and unloading equipment based on unmanned carrier |
| CN107878292A (en) * | 2017-12-12 | 2018-04-06 | 成都电科海立科技有限公司 | The method of adjustment of vehicular trailer wagon box |
| CN108750719A (en) * | 2017-11-24 | 2018-11-06 | 长兴华阁耐物流装备有限公司 | A kind of Multi-purpose freight conveying equipment based on optoelectronic integration |
| CN110146151A (en) * | 2019-06-14 | 2019-08-20 | 上海中通吉网络技术有限公司 | Weighing method and system |
| CN110182504A (en) * | 2019-05-08 | 2019-08-30 | 盐城品迅智能科技服务有限公司 | A kind of intelligent material conveying vehicle and method for sorting with sorting function |
| CN110795953A (en) * | 2019-11-19 | 2020-02-14 | 滨州方新电脑有限公司 | Send a scanning and timely update system of commodity circulation information |
-
2016
- 2016-11-16 CN CN201621239822.6U patent/CN206345307U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106379685A (en) * | 2016-11-16 | 2017-02-08 | 杭州电子科技大学 | Automatic goods taking and unloading equipment based on unmanned carrier |
| CN108750719A (en) * | 2017-11-24 | 2018-11-06 | 长兴华阁耐物流装备有限公司 | A kind of Multi-purpose freight conveying equipment based on optoelectronic integration |
| CN107878292A (en) * | 2017-12-12 | 2018-04-06 | 成都电科海立科技有限公司 | The method of adjustment of vehicular trailer wagon box |
| CN110182504A (en) * | 2019-05-08 | 2019-08-30 | 盐城品迅智能科技服务有限公司 | A kind of intelligent material conveying vehicle and method for sorting with sorting function |
| CN110146151A (en) * | 2019-06-14 | 2019-08-20 | 上海中通吉网络技术有限公司 | Weighing method and system |
| CN110795953A (en) * | 2019-11-19 | 2020-02-14 | 滨州方新电脑有限公司 | Send a scanning and timely update system of commodity circulation information |
| CN110795953B (en) * | 2019-11-19 | 2020-09-25 | 浙江华眼视觉科技有限公司 | Send a scanning and timely update system of commodity circulation information |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170721 Termination date: 20171116 |