CN209870597U

CN209870597U - Automatic guide vehicle and automatic warehousing system

Info

Publication number: CN209870597U
Application number: CN201920464122.4U
Authority: CN
Inventors: 王鼎; 刘嗣星; 周友松; 倪菲
Original assignee: Shanghai Quicktron Intelligent Technology Co Ltd
Current assignee: Shanghai Quicktron Intelligent Technology Co Ltd
Priority date: 2019-04-08
Filing date: 2019-04-08
Publication date: 2019-12-31
Anticipated expiration: 2029-04-08
Also published as: WO2020206871A1

Abstract

The utility model discloses an automatic guide car and automatic warehouse system, the automatic guide car includes: the vehicle comprises a vehicle body, wherein a battery compartment is arranged in the vehicle body; a traveling device provided on the vehicle body; a battery removably disposed in the battery compartment; a driving device coupled with the battery and capable of driving the traveling device; and a door assembly transitionable between a closed position in which the door assembly allows the battery to enter and exit the battery compartment and a release position; in the release position, the door assembly does not allow the battery to enter and exit the battery compartment. The scheme of the utility model utilizes the lever principle, which saves labor; meanwhile, the plugging and the separation can be quickly finished, so that the time is saved; in addition, the electric device is not contacted in the mounting and dismounting processes, so that the safety is high.

Description

Automatic guide vehicle and automatic warehousing system

Technical Field

The utility model relates to an intelligent storage field especially relates to an automatic guide car and automatic storage system.

Background

Along with the rapid development of the e-commerce industry in China, diversified demands are met in each link of logistics, a parcel sorting system consisting of sorting robots is produced at the same time, and the system has the flexibility of instant response and distribution while guaranteeing high parcel sorting efficiency. In the current logistics warehousing field, Automatic Guided Vehicles (AGVs) have been increasingly used to replace or supplement manual labor. The automatic guided vehicle can automatically receive the object conveying task, reaches the first position under the control of a program, acquires the object, then travels to the second position, unloads the object, and continues to execute other tasks.

For a logistics intelligent vehicle, a battery is one of the most important modules. In terms of mechanical structure, the battery has the characteristics of large occupied space, large weight ratio and the like. In order to make the endurance of the intelligent vehicle stronger and stronger, batteries with larger and larger capacities are used. In order to make the whole device design more compact, small and mobile, the battery box of the battery assembly chamber must be designed to be smaller and smaller. The battery becomes heavier and the battery case becomes smaller, so that the battery is more and more difficult to assemble and disassemble.

During the battery installation of prior art and dismantlement, need manual operation, need connect the plug during installation, need break off the plug during dismantlement, the process has the risk of electric shock. When the battery is replaced, the battery box needs to be pulled out, the plug is loosened, and the battery is taken out. And then the new battery is put into the battery box, connected with the plug and pushed into the battery box. This process is laborious, time-consuming and laborious.

Therefore, it is desirable to provide a battery compartment structure that is fast, convenient, time-saving, labor-saving, and relatively safe in the battery replacement (mounting and dismounting) process.

The statements in the background section are merely technical equivalents which may be known to a person skilled in the art and do not, of course, represent prior art in this field.

SUMMERY OF THE UTILITY MODEL

In view of at least one among the prior art defect, the utility model provides an automatic guided vehicle, include: the vehicle comprises a vehicle body, wherein a battery compartment is arranged in the vehicle body; a traveling device provided on the vehicle body; a battery removably disposed in the battery compartment; a driving device coupled with the battery and capable of driving the traveling device; and a door assembly transitionable between a closed position in which the door assembly allows the battery to enter and exit the battery compartment and a release position; in the release position, the door assembly does not allow the battery to enter and exit the battery compartment.

According to an aspect of the utility model, the bottom of battery compartment has the mounting groove, and the mid portion undercut of mounting groove, the entrance of battery compartment has the deflector.

According to an aspect of the utility model, the end of battery compartment has spacing fixed subassembly, the one end of battery has locating component, works as the battery is located when the battery compartment, spacing fixed subassembly with locating component engages.

According to the utility model discloses an aspect, spacing fixed subassembly has spacing support and is located the elastic block on the spacing support, be provided with wedge location tongue on the locating component, work as the battery pushes when in the battery compartment, the elastic block will as the direction wedge location tongue is held tightly.

According to an aspect of the utility model, the door subassembly includes support and swivel mount, the support is fixed the automobile body is located around the door, but swivel mount pivot ground is fixed on the support to seal and release the door.

According to an aspect of the utility model, the door subassembly still includes the handle, the handle is fixed on the swivel mount.

According to an aspect of the present invention, the door assembly further comprises a positioning assembly, the positioning assembly pivotally assembles the bracket and the swivel bracket together.

According to an aspect of the utility model, the outside of battery is provided with the latch fitting, works as the battery is pushed in the battery compartment, and when the door subassembly was covered, the latch fitting can with locating component combines together.

According to an aspect of the utility model, the locating component includes the support and sets up elastic block, latch and the spring on the support, the latch spare has latch and boss, the latch is by thereby the spring pushes to can stretch out and retract, works as the battery is pushed in the battery compartment, and when the door subassembly is covered, the location latch is crossed the elastic block is stopped, the boss will the latch pushes to the retract, and the latch is in stretch out under the effect of spring, thereby the locking the boss.

The utility model discloses still relate to an automatic warehouse system, a serial communication port, include:

one or more automatic guided vehicles as described above; and

and the control device is communicated with the automatic guided vehicle and sends an instruction to the automatic guided vehicle.

The scheme of the utility model utilizes the lever principle, which saves labor; meanwhile, the plugging and the separation can be quickly finished, so that the time is saved; in addition, the electric device is not contacted in the mounting and dismounting processes, so that the safety is high.

Drawings

The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:

figure 1 illustrates an automatic guided vehicle according to one embodiment of the present invention;

fig. 2 shows an exploded schematic view of a battery compartment and battery assembly of an automatic guided vehicle according to an embodiment of the present invention;

fig. 3 shows a battery compartment according to an embodiment of the invention;

figure 4 illustrates a side view of a guide plate according to one embodiment of the present invention;

fig. 5 shows an exploded schematic view of a battery assembly according to an embodiment of the present invention;

figure 6 illustrates a positioning assembly according to one embodiment of the present invention;

figure 7 illustrates a spacing fixture assembly according to one embodiment of the present invention;

fig. 8 shows the engagement of the positioning assembly with the spacing and fixing assembly according to an embodiment of the present invention;

fig. 9 illustrates a latch on a battery assembly according to one embodiment of the present invention;

figure 10 illustrates an exploded view of a door assembly according to one embodiment of the present invention;

fig. 11 illustrates an exploded view of a positioning assembly in accordance with an embodiment of the present invention;

fig. 12 illustrates a schematic view of a latch member locked with a positioning assembly in accordance with an embodiment of the present invention;

figure 13A shows the door assembly in a closed position, figures 13B and 13C show the door assembly in a released position; and

fig. 14 illustrates an automated warehousing system according to one embodiment of the invention.

Detailed Description

In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present invention, it should be noted that unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection, either mechanically, electrically, or in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. 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 above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the invention. In order to simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or reference letters in the various examples, which have been repeated for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.

Fig. 1 illustrates an automatic guided vehicle 10 according to one embodiment of the present invention. As shown in fig. 1, the automatic guided vehicle 10 includes a vehicle body 11 and a traveling device 12. The running means 12 are shown in fig. 1 as wheels, but it will be understood by those skilled in the art that other types of running means, such as tracks and the like, are also contemplated. The number of travelers 12 can be set according to their type and specific working needs. Taking the wheel as an example, two, three, four or more wheels may be provided. Additionally, the wheels may include a drive wheel and a driven wheel. The automatic guided vehicle 10 also includes a battery compartment 111 (shown in fig. 2) in the vehicle body 11, in which a battery assembly 14 (described below) is disposed. The battery assembly 14 is detachably disposed in the battery compartment so that replacement and installation operations can be conveniently performed.

Although not shown in fig. 1, those skilled in the art will appreciate that the automated guided vehicle 10 also includes a drive device, such as an electric motor. The drive mechanism is coupled to the battery assembly 14 and drives the travel mechanism 12 to move the automated guided vehicle 10 over the ground surface through a variety of motions, including but not limited to forward, reverse, turn, etc. And optionally, the automated guided vehicle 10 further includes a transmission or gearbox between the drive device and the travel device 12 for driving the travel device 12 at a suitable rotational speed and torque.

As shown in fig. 2, the automatic guided vehicle 10 further includes a door assembly 15, the door assembly 15 being disposed at an outlet of the battery compartment 111 and being switchable, e.g., pivotally movable, between a closed position and a release position. Wherein in the closed position, the door assembly 15 closes the outlet of the battery compartment 111, thereby not allowing the battery assembly 14 to enter and exit the battery compartment 111; in the release position, the door assembly 15 releases the outlet of the battery compartment 111, thereby allowing the batteries 14 to enter and exit the battery compartment 111. Figure 13A shows the door assembly 15 in the closed position and figures 13B and 13C show the door assembly 15 in the released position. As will be described in detail below.

As shown in fig. 3, the bottom of the battery compartment 111 has a mounting groove, and the middle portion of the mounting groove is depressed downward. The chassis of the body 11 is, for example, an integral casting, on which a mounting groove of the battery compartment is prepared, which may be determined according to the shape of the battery assembly, for example, rectangular, the peripheral edge of which plays a guiding and fixing role, and the middle portion of the mounting groove (shaded portion in fig. 3) is preferably lower than the periphery by several millimeters, so that the battery assembly 14 is only contacted on both sides when being pushed in during mounting, thereby reducing friction. Preferably, the upper opening of the mounting groove may be larger than the bottom of the mounting groove and is in a splayed shape, so that the battery assembly 14 is convenient to insert and mount.

As shown in fig. 2, the battery compartment 111 has a guide plate 113 at an inlet thereof. The guide plate 113 is provided on the vehicle body 11, fixed to the chassis at the opening of the battery mounting groove, and has an inclined section at the outermost end thereof so as to slide the battery pack 14 in when the battery pack 14 is mounted. And the guide plate 13 can prevent the battery assembly 14 from being released and slipping out when vibration occurs during the operation of the automatic guided vehicle 10. Fig. 4 shows the guide plate 113 more clearly in a side view, where it is apparent that the guide plate 113 has an inclined section at the outermost end.

As shown in fig. 2, according to a preferred embodiment of the present invention, the battery compartment 111 further has a position-limiting fixing component 112 at the end or inside. As shown in fig. 5, one end of the battery assembly 14 has a positioning assembly 142, and when the battery assembly 14 is located in the battery compartment 111, the position-limiting fixing assembly 112 is engaged with the positioning assembly 142, so as to lock the battery assembly 142 in the battery compartment 111.

As shown in fig. 5, the battery assembly 14 includes a battery 141, a positioning assembly 142, a handle 143, and a latch 144. The positioning assembly 142 is mounted at the lower end of a notch at one end of the battery assembly 14, the locking piece 144 is mounted above the other end of the battery assembly 14, the handle 143 above the locking piece is used for carrying the battery assembly, and the handle 143 above the front end is used for pulling when a battery box is unloaded in an AGV.

Figure 6 shows a detailed view of the positioning assembly 142, figure 7 shows a detailed view of the spacing fixture assembly 112, and figure 8 shows how the positioning assembly 142 mates with the spacing fixture assembly 112. The positioning assembly 142 includes a wedge-shaped positioning tongue 1421, and the position-limiting fixing assembly 112 includes a position-limiting bracket 1121 and two rubber blocks (elastic blocks) 1122 (two in the figure) located on the position-limiting bracket. In the process of installing the battery assembly 14 into the battery compartment 111, the two rubber blocks 1122 are used as guides to hold the wedge-shaped positioning tongue 1421 tightly, so that the battery assembly 14 is pushed in place in the flexible process, and when the automatic guided vehicle 10 operates and vibrates, the battery assembly 14 is stably fixed in the battery compartment 11 without shaking and displacement. The reliability of the battery tab connection is ensured. As also shown in fig. 6 and 7, the positioning assembly 142 and the retention fixture assembly 112 include corresponding angled surfaces thereon for guiding the battery assembly 14 into engagement with the retention fixture assembly 112 during installation of the battery assembly 14 into the battery compartment 111, ultimately resulting in the wedge-shaped positioning tabs 1421 being clamped within corresponding openings in the retention fixture assembly 112.

Fig. 9 shows the structure of the latch 144 on the battery assembly 14. As shown in fig. 9, the latch 144 includes two positioning tongues 1441 with a boss 1442 provided therebetween. The latch 144 cooperates with the door assembly 15 to lock, as will be described in more detail below.

Figure 10 shows an exploded view of the door assembly 15. As shown in fig. 10, the door assembly 15 includes a bracket 151 and a rotating frame 152. The bracket 151 is fixed to the vehicle body 10, or fixed to a chassis of the vehicle body 10, around the opening of the battery compartment 111, and the rotating bracket 152 is pivotally fixed to the bracket 152, thereby closing and releasing the opening of the battery compartment 111.

As shown in fig. 10, according to a preferred embodiment of the present invention, the door assembly 15 further includes a handle unit 154, and the handle unit 154 is fixed to the rotating frame 152. In fig. 5, the handle unit 154 is fixed to the rotating frame 152 by bolts and nuts, for example, through screw holes or through holes in the rotating frame 152.

As shown in fig. 10, according to a preferred embodiment of the present invention, the door assembly 15 further includes a positioning assembly 153, and the positioning assembly 153 pivotally assembles the bracket 151 and the rotating frame 152 together. The positioning assembly 153 is inserted into the upper hole of the bracket 151, and then both ends are inserted into the notches of the rotating frame 152 to be fixed, and the handle unit 154 is fixed with the rotating frame 152, so that the handle unit 154 is fixedly connected with the rotating frame 152 and the positioning assembly 153. When the handle unit 154 is pulled, the rotating frame 152 and the positioning assembly 153 may rotate with respect to the hole axis of the bracket 151. Fig. 11 shows an exploded view of positioning assembly 153.

It has been described above that the battery assembly 14 is provided with the latch 144. When the battery assembly 14 is pushed into the battery compartment 111 and the door assembly 15 is covered, the latch 144 may be engaged with the positioning assembly 153. Specifically, as shown in fig. 11, the positioning assembly 153 includes a positioning assembly holder 1531, and an elastic block 1532, a latch 1533, and a spring 1534 disposed on the positioning assembly holder 1531. The latch 1533 is pushed by the spring 1534 to be extended and retracted. When the battery assembly 14 is pushed into the battery compartment 111 and the compartment door assembly 15 is covered, the positioning tongue 1441 of the latch 144 passes over the elastic block and is latched 1532, and in the process, the projection 1442 pushes the latch 1553 against the retraction. After the projection 1442 passes the latch 1553, the latch 1553 is extended by the spring 1534 to lock the projection 1442 and prevent the projection 1442 from moving in the opposite direction. A spring housing 1535 is provided at one end of the spring 1534 for securing and enclosing the spring 1534.

The latch 144 has a positioning tongue 1441 and a projection 1442. As shown, when door assembly 15 is closed, retaining tongue 1441 of latch 144 of battery assembly 14 extends into resilient block 1532 of retaining assembly 153, creating a flexible guide into position and progressively hugging. So that battery assembly 14 will not rattle or shift. And the latch has a spring 1534 inside, which can move up and down. Upon contacting the boss 1442 of the latch 144, the latch 1533 slides up through. When the battery pack passes over the latch boss 1442, the latch 1533 is pushed by the spring 1534 to move downwards, so that the battery pack is latched firmly in the battery box. Thus, even if the weight of the battery is large, the battery cannot be disengaged or escape when the automatic guided vehicle moves at a high speed.

Fig. 12 shows a schematic view of latch 144 locked with positioning assembly 153.

Fig. 13A, 13B, and 13C show a process of taking out the battery assembly 14 from the battery compartment 111. As shown in fig. 13A, the door assembly 15 is in a closed state, and in this state, the battery assembly 14 cannot be taken out of the battery compartment 111. In fig. 13B, the door assembly is pivoted from the closed state to the released state by the handle unit 154 so that the battery assembly 14 can be taken out from the battery compartment 111. Fig. 13C shows a process of removing the battery assembly 14 from the battery compartment 111 by the handle 143.

If it is desired to install the battery assembly 14 into the battery compartment 111, this is done in reverse order as shown in the above figures.

According to the utility model discloses a battery pack's installation scheme only needs less dynamics just can operate. The description is made with reference to fig. 13A. Point a is the rotation fulcrum of the bin gate assembly, and point C is the hand holding fulcrum of the handle unit of the bin gate assembly, which drives the whole door handle to rotate. The battery pack has a push-in/pull-out resistance point B to the handle unit. The distance from the hand-held fulcrum C to the rotation fulcrum a of the door assembly is twice the distance from the push-in/pull-out resistance point B to the rotation fulcrum a. Therefore, the pulling force on the holding fulcrum C can generate double pulling force towards the outside of the battery. Therefore, the proposal of the utility model utilizes the lever principle, which saves labor; meanwhile, the plugging and the separation can be quickly finished, so that the time is saved; in addition, the electric device is not contacted in the mounting and dismounting processes, so that the safety is high.

As shown in fig. 14, the present invention further relates to an automatic warehousing system 200, which includes one or more automatic guided vehicles 201 and a control device 202. The control device 202 communicates with the automated guided vehicle 201 and sends instructions to the automated guided vehicle, including transport instructions, path planning, etc.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automated guided vehicle, comprising:

the vehicle comprises a vehicle body, wherein a battery compartment is arranged in the vehicle body;

a traveling device provided on the vehicle body;

the battery assembly is detachably arranged in the battery bin;

a driving device coupled with the battery and capable of driving the traveling device; and

a door assembly transitionable between a closed position in which the door assembly does not allow the battery assembly to enter and exit the battery compartment and a release position; in the release position, the door assembly allows the battery assembly to enter and exit the battery compartment.

2. The automatic guided vehicle according to claim 1, wherein the bottom of the battery compartment has a mounting groove, the middle portion of the mounting groove is depressed downward, and a guide plate is provided at the entrance of the battery compartment.

3. The automated guided vehicle of claim 1 or 2, wherein the battery compartment has a retention fixture assembly at an end thereof, and the battery assembly has a positioning assembly at an end thereof, the retention fixture assembly engaging the positioning assembly when the battery assembly is positioned in the battery compartment.

4. The automated guided vehicle of claim 3, wherein the retainer mounting assembly has a retainer bracket and a resilient block and an opening on the retainer bracket, the retainer assembly having a wedge-shaped retainer tongue, the resilient block acting as a guide for the wedge-shaped retainer tongue to be received in the opening when the battery assembly is pushed into the battery compartment.

5. The automated guided vehicle of claim 1 or 2, wherein the door assembly comprises a bracket fixed to the vehicle body about the door and a swivel frame pivotally fixed to the bracket to close and release the door.

6. The automated guided vehicle of claim 5, wherein the door assembly further comprises a handle unit secured to the swivel frame.

7. The automated guided vehicle of claim 5, wherein the door assembly further comprises a positioning assembly that pivotally assembles the bracket and swivel frame together.

8. The automated guided vehicle of claim 7, wherein a latch is provided on an outer side of the battery assembly, the latch being lockable in combination with the positioning assembly when the battery assembly is pushed into the battery compartment and the door assembly is covered.

9. The automated guided vehicle of claim 8, wherein the positioning assembly comprises a positioning assembly bracket and an elastic block, a latch and a spring arranged on the positioning assembly bracket, the latch has a positioning latch and a boss, the latch is pushed by the spring to be extendable and retractable, when the battery assembly is pushed into the battery compartment and the door assembly is covered, the positioning latch passes over the elastic block and is stopped, the boss pushes the latch to be retracted, and the latch is extended under the action of the spring to lock the boss.

10. An automated warehousing system, comprising:

one or more automated guided vehicles according to any of claims 1-9; and